A method for estimating the pose of an unmanned aerial vehicle based on a combination of trapezoidal and circular landmarks belongs to the technical field of image processing. The method is as follows: Step 1, UAV binarizes landmark pattern imaging to segment landmark patterns, and removes isolated noise based on morphological filtering; Step 2, extracts landmark edges, and uses Hough transform to extract trapezoidal contour line information in landmarks , use the least squares method to fit the ellipse equation and calculate the ellipse parameters; step 3, estimate the attitude parameters of the UAV according to the ellipse parameters calculated in step 2; step 4, establish the UAV ground imaging model, and use the trapezoidal contour line information The coordinates of the four vertices of the trapezoid estimate the position parameters. The present invention aims at the problems of precise estimation of pose and autonomous landing in UAV visual navigation, based on the combination of trapezoidal and circular landmark patterns, estimating the attitude parameters according to the geometric imaging characteristics, simplifying the collinear equation solution model, and then solving the position parameters , the calculation process is simple and more suitable for practical engineering applications.