The invention provides a robust and fast UAV photogrammetry mark detection and positioning method. First, the photographic image is enhanced and grayscaled, and then the centroid coordinates of each pair of black connected domains and white connected domains in the image are compared. , when the distance between the two does not exceed the set pixel threshold, the area is considered as a candidate target area and the centroid coordinates of the white connected domain are used as the initial detection coordinates of the candidate logo, and then the zero-crossing detector is used to detect the crossing in the neighborhood of the candidate logo. If and only when the number of zero-crossing points is 4, keep the candidate target, otherwise delete the candidate target, and finally perform polynomial surface fitting on the gray intensity response map of the sign image generated based on the local Radon transform, and iteratively solve the proposed The precise coordinates of the maximum point of the combined surface, that is, the high-precision coordinates of the measurement mark. The invention has strong anti-interference ability, improves calculation efficiency and mark positioning accuracy, and is suitable for processing large-resolution images.