A beacon layout and image processing method based on UAV pose calculation. Firstly, the machine vision-guided landing of UAV is designed. According to the built visual imaging system, the image sensitivity is ensured and the field of view distortion is analyzed. Under certain conditions, combined with the possible poses during the landing process, design the beacon structure and layout method required for the vision-guided landing. Then, according to the designed vision-guided system, for different cooperative beacon configurations, three measures are proposed. The index of algorithm applicability is used to evaluate and screen the pose calculation algorithm. Finally, the ground cooperation beacon used is infrared LED. The imaging effect of infrared LED is more stable, the imaging distance is longer, and the imaging accuracy is higher. This method is simple and easy to implement, has low requirements on the configuration of the landing site, is more convenient and faster to extract features from near-infrared images, expands the scope of application of the vision system, and can detect and identify all-weather and all-weather; Machine attitude information.