The invention provides an onboard holder which is simple in structure, low in cost, safe and capable of achieving gravity center adjusting easily and conveniently. The onboard holder comprises a fixing frame which can be fixed to an unmanned aerial vehicle, a first driver located below the fixing frame and fixedly connected with the fixing frame, a first supporting frame which is connected with the first driver and can rotate around the Z axis under driving of the first driver, a second supporting frame which is located below the first supporting frame and connected with the first supporting frame in a sliding and sleeving mode, a third supporting frame in hinged joint with the second supporting frame, a second driver and a third driver, wherein an output shaft of the second driver is connected with the third supporting frame, the second driver is used for driving the third supporting frame to rotate around the y axis, the third driver is fixed to the third supporting frame, an output shaft of the third driver is used for being connected with a fixing device capable of fixing an imaging device, and the third driver is used for driving the fixing device to rotate around the X axis.