The invention provides a steady and rapid unmanned aerial vehicle photogrammetry mark detection and positioning method. The method comprises the following steps: firstly, enhancing and graying a photographic image; comparing the centroid coordinates of each pair of black connected domain and white connected domain in the image; when the distance between the two does not exceed a set pixel threshold value, considering the region as a candidate target region and taking the centroid coordinate of the white connected domain as the initial detection coordinate of the candidate mark; detecting the number of zero-crossing points in the neighborhood of the candidate mark by using a zero-crossing detector; when and only when the number of the zero crossing points is 4, reserving the candidate targets, otherwise, deleting the candidate targets; finally, performing polynomial surface fitting on a sign image gray intensity response diagram generated based on local Radon transform, and solving theaccurate coordinates where the maximum value point of the fitting surface is located, namely the high-precision coordinates of the measurement sign, in an iterative mode. The method of the invention is strong in anti-interference capability, improves the calculation efficiency and the mark positioning precision, and is suitable for the processing of a large-resolution image.