The invention is applicable to the field of unmanned aerial vehicles, and provides a three-dimensional environment modeling method of unmanned aerial vehicles, comprising: acquiring point features and line features on key frame images, and dividing texture areas; One frame is the target key frame, find matching points and lines in the target key frame, use epipolar geometric triangulation to obtain 3D points and lines, and combine the texture area to complete the generation and update of surface features; in the three-dimensional space, the obtained Multi-level features are effectively combined, wherein the multi-level features include point features, line features and surface features; dual quaternions are used to describe the multi-level features uniformly. The invention also provides a three-dimensional environment modeling system for the unmanned aerial vehicle. The invention can provide basic research results for further research and development of new dedicated dual quaternion solving hardware, can improve the optimization speed of the system, and can reduce the error matching rate, thereby improving the accuracy and robustness of the map.