At present, the most common and low-cost method to control the drone is to use a mobile phone with an APP. The operator takes his mobile phone screen as a human-machine interface, and at the same time controls and receives the images returned by the drone. The control mode can be divided into two symmetry modes according to how the operator views and knows the location of the drone: exocentric viewing and egocentric viewing mode. In the exocentric viewing mode, the operator directly visually confirms the position of the drone, while in the egocentric viewing mode, the drone is equipped with a camera and transmits the flight image to the operator in real-time. Since the drone cannot be far away from the operator in the exocentric viewing mode, the relative egocentric mode allows the operator to feel immersed in the environment to control the drone more accurately. Therefore, by adapting the egocentric viewing and using human motion recognition, an unmanned vehicle remote-control system is designed. The low-speed, small-scaled, nature-stability UAVs are ideally suited for the proposed system. The system was designed with a PID controller to improve the UAV's handling. The experimental results verified the feasibility of the UVA control system and it could stabilize the posture of the drone.