Abstract:As to the problem of rapid and high-precision positioning of drones in dynamic environment, this paper proposes a method of performing pose and position calculation on the artificial features of UAV with a monocular camera. A number of small LED lamps are placed on the drone as feature points for visual measurement. One of those points is used as the origin to establish the UAV body coordinate system. The multi-scene measurement is used to determine the three-dimensional position of the feature point in the body coordinate system. The image points in the image are then matched to the points in the world. The position and pose of the drone are solved by EpnP algorithm at last. In the experimental part, with the application of three-axis motion platform and two-dimensional turntable, the errors of position solution result and the pose calculation result are respectively measured. The experimental results show that the position solution error is less than 2%, and the pose error is about 8%, with the processing time of merely 2ms, and prove that this algorithm can meet the real-time and accuracy requirements from UAV positioning.