The invention provides a ZigBee-based quadrocopter farmland positioning system which comprises a plurality of known positions, ZigBee beacon nodes at the same height, and to-be-positioned quadrocopter nodes composed of the quadrocopter and ZigBee nodes, and also a positioning method which comprises the steps of selecting four beacon nodes strongest in wireless signal intensity when the quadrocopter flies over the farmland, calculating the spatial distance between the node of the quadrocopter and each beacon node through the intensity of a received wireless signal, mapping the spatial distances into horizontal distances between the node of the quadrocopter and the beacon nodes within the horizontal plane, combining every three beacon nodes to form a triangular positioning subregion and forming 4 subregions in total, for each subregion, calculating the relative coordinates of the quadrocopter by a trilateral positioning method, next, calculating the center of mass of a quadrangle formed by the four pairs of relative coordinates by a center-of-mass method, and then taking the coordinates of the center of mass as the final position coordinates of the node of the quadrocopter. The ZigBee-based quadrocopter farmland positioning system is capable of realizing low-cost, high-precision and fast-positioned regional operation in the farmland.