A visual positioning system, an unmanned aerial vehicle, and a method for self-detecting the position of an unmanned aerial vehicle. The visual positioning system (709) comprises a lens module (702), a matching module (703), a translation module (704) and a sensor module (705); the unmanned aerial vehicle (100) has a body (101), the body (101) has a lower side (1011), and the lens module (702) is provided on the lower side (1011); the lens module (702) has a wide field of view, and captures a series of images (I) of a region under the unmanned aerial vehicle (100) over time during flight; the matching module (703) compares features in each image (I) of the series of images (I), so as to derive first data (D1); and the translation module (704) translates the first data (D1) into positioning data. Said visual positioning system enables the unmanned aerial vehicle to obtain additional/alternative positioning information.
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