The embodiment of the invention provides an electronic device state tracking method and device, an electronic device and a control system, and the method comprises the steps: determining a target keyframe matched with a current frame lost by state tracking in a key frame set of a map generated by a simultaneous positioning and map construction SLAM system for an environment where the electronic device is located; determining a lens position and a lens orientation of the electronic device according to the target key frame and the current frame; and performing visual state tracking of the electronic device based on the determined lens position and the determined lens orientation. According to the method, after tracking is lost, the tracking state can be quickly recovered.