The invention relates to a positioning drive mechanism for an aircraft full-movement V tail. The positioning drive mechanism comprises a rudder shaft, an upper bearing sleeve, an upper joint bearing, a cylindrical positioning sleeve, a connection key, a semi rocker arm, a cone positioning sleeve, a lower bearing sleeve, a lower joint bearing, a shaft end cover, an upper bearing base, a lower bearing base, a servo actuator and a servo actuator bracket, wherein the upper bearing base and the lower bearing base are connected with an aircraft body frame to form a box-shaped structure so as to increase bending resistance and torsion resistance of the support structure, the upper joint bearing and the lower joint bearing provide rotation support for the rudder shaft, the semi rocker arm is connected with the rudder shaft through the connection key so as to change a load output by the servo actuator into a torque for driving the rudder shaft to deflect, the cone surfaces of the lower bearing sleeve and the lower bearing base are matched to perform centering, and the cylindrical surface matching position of the lower bearing sleeve and the lower bearing base is provided with threaded half holes to auxiliarily load and unload the full-movement V tail. According to the present invention, reliable positioning drive and convenient loading and unloading of the rudder surface of the aircraft with characteristics of large size, inclined angle and dual pivot point cantilever support are concurrently achieved.