A VTOL (vertical take-off and landing) aerial flying vehicle comprises an inner frame (312), a gimbal system (301) and an outer frame (304), the inner frame comprising a propulsion system and a control system. The propulsion system is able to generate a lift force. The control system is able to control the orientation of the inner frame. The gimbal system (301) is used for connecting the inner frame (312) to the outer frame (304) with at least two rotation axis allowing rotation freedom between the outer frame to rotate independently from the inner frame.