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To address the problem of failure of GPS positioning system in the autonomous positioning of UAV, this paper presents a Autonomous positioning technology of UAV based on ground scene assistance. Firstly, the real-time aerial images acquired by UAV are matched with those digital topographic map of the ground scene stored in the computer in UAV. Meanwhile extracting a corresponding image points from the matching result, merging the data information in the digital topographic map to obtain the geographical coordinates of the corresponding image points. According to the geometric relationship between the location of the point and the UAV, and combine with the coordinate system conversion process of the onboard photoelectric measurement system, we can realize the autonomous positioning process of UAV. The geographic location information of the corresponding image points on the ground is known to reverse the information of the UAV. This method is the innovation point of this paper. Due to the actual error in the whole positioning process, the positioning error is simulated by Monte Carlo method based on the data recorded in the UAV flight. The experimental results show that the technology can realize the autonomous positioning of UAV when the GPS positioning system fails in the allowable range of error.