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As a new concept of aerial and land transportation, split flying vehicles can solve the frequent urban traffic jams and the inconvenient traffic between urban and suburban areas. A vision positioning and navigation scheme based on AprilTag Algorithm is proposed for the precise docking between modules involved in the modal transformation of split flying vehicles. After the coordinate transformation of the result of AprilTag algorithm, the relative position and attitude between modules was obtained. Then combined with the design of the UAV guidance process of landing based on PID controller, which solved the problem that is unable to meet the requirements of the task of guidance docking at centimeter level due to the large GPS positioning error, and the stability of the UAV guidance process of landing is improved. Finally, the feasibility of the scheme is verified by experiments on the ROS platform.