Vision-based unmanned aerial vehicle pose calculation method, system, equipment and medium

The invention discloses a vision-based unmanned aerial vehicle pose calculation method, system and device and a medium. The method comprises the following steps: acquiring an original image of a target object shot by an unmanned aerial vehicle and an original pose parameter of the unmanned aerial vehicle; performing target detection on the original image to obtain a coordinate position and a size of a target object in the original image; a pan-tilt pitching angle change value and a pan-tilt yaw angle change value of the unmanned aerial vehicle are obtained through field testing; according to the original pose parameter, the coordinate position and the size of the target object in the original image, the pan-tilt pitch angle change value and the pan-tilt yaw angle change value, obtaining a target pan-tilt pitch angle and a target pan-tilt yaw angle of the unmanned aerial vehicle; and obtaining a target camera zoom multiple of the unmanned aerial vehicle according to the original image, the size and a preset th