Unmanned aerial vehicle positioning method, device and equipment applied to converter station valve hall

The invention discloses an unmanned aerial vehicle positioning method, device and equipment applied to a converter station valve hall. The method comprises the following steps: establishing a physical observation model of an unmanned aerial vehicle under an environmental condition of a target area; determining distance data between at least three ultra wide band (UWB) modules arranged in the target area and the unmanned aerial vehicle as first distance data; and based on the position data of the at least three UWB modules in the target area and the first distance data, solving the physical observation model to obtain the position data of the unmanned aerial vehicle in the target area. Thus, the position data, obtained by solving the physical observation model under the environmental condition of the target area, of the unmanned aerial vehicle in the target area is closer to the environmental influence of the target area, and the accuracy of the positioning result of the unmanned aerial vehicle in the target a