Method and apparatus for flying unmanned aerial vehicle in hand-held manner

A method and apparatus for flying an unmanned aerial vehicle in a hand-held manner, and an unmanned aerial vehicle. The method comprises: judging whether an unmanned aerial vehicle is triggered to enter a preliminary takeoff state (S101); after determining that the unmanned aerial vehicle has entered the preliminary takeoff state, continuing to verify whether the unmanned aerial vehicle is in a hand-held flat state within a predetermined time (S102); when determining that the unmanned aerial vehicle is in the hand-held flat state, comparing a state parameter of the unmanned aerial vehicle itself with the state parameter at a previous time, and judging whether to loosen the grip, and if yes, controlling the rotation of a rotor of the unmanned aerial vehicle for takeoff (S103). In this method, an unmanned aerial vehicle judges, by judging its own state parameters, whether a preliminary takeoff state, a hand-held flat state and a user hands-off state have been sequentially gone through, and if it is determined that the above-mentioned states have been sequentially gone through, the rotation of a rotor is controlled for takeoff. This method is easy to implement, and hardware costs of a remote controller and the step of operating the remote controller by an operator can be omitted.