The invention relates to a following-type flight control method, a following-type flight control device, and an unmanned aerial vehicle. The method comprises the following steps: when the following flight mode of an unmanned aerial vehicle is started, determining the following object of the unmanned aerial vehicle; when the following object goes out of the following picture of the unmanned aerial vehicle, flying to a position near beacon equipment according to the location information of the beacon equipment carried by the following object; searching for the visual features of the following object near the beacon equipment; and when the following object is found, making a flight following the following object according to the visual features of the following object. Through the technical scheme of the invention, an unmanned aerial vehicle can make precision automatic following flight, and can find a lost following object automatically.