Computer vision navigation technology has the characteristics of high accuracy, no electronic interference, and low cost. It is hailed as one of the necessary means for autonomous positioning of future drones. As a new positioning method, we need to build a simulation platform in the laboratory for a large number of simulation training. Combining virtual reality, visualization technology and computer vision navigation algorithms, a UAV vision autonomous positioning simulation verification system based on virtual simulation environment was developed. Construct virtual cameras, checkerboards, and cooperative QR code tags in the scene to enable camera calibration under complex three-dimensional terrain, different weather conditions, and different focal lengths， Then, the internal parameters obtained from the calibration are used to solve the position parameters based on label positioning, and the position parameters are calculated and output in real time. The experimental results show that the simulation system can accurately calibrate the virtual camera in the scene to obtain the internal parameters of the virtual camera, and the error of the positioning parameter is within 0.2 meters. It meets the accuracy requirements for autonomous flight and landing of the drone, and has a good user display and control interface, which verifies the feasibility of the autonomous positioning algorithm based on visual drone.