The invention discloses an unmanned aerial vehicle target positioning method for reducing optical axis pointing random errors. The method comprises the following steps: observing a target for multipletimes by using an unmanned aerial vehicle so as to obtain observation data; integrating the acquired observation data, and calculating an exploration inclination angle theta i between the unmanned aerial vehicle and the target in the ith observation; calculating an effective weighting quantity Wi according to the calculated theta i; with the effective weighting quantity Wi, estimating a practicaloptical axis pointing distance according to N times of measured optical axis pointing distances, and finally achieving common unmanned aerial vehicle positioning resolution; or with the effective weighting quantity Wi, calculating positioning estimation of N times of measurement according to N times of positioning results. Compared with average filtering and Kalman Filtering methods, the method has relatively high specificity and relatively outstanding effects. Through data simulation verification, under the conditions that the flying height of the unmanned aerial vehicle is 1000 m, the inclination angle is 60 degrees and the optical axis pointing inclination angle error is within 2 degrees, the positioning precision of the method is improved by 15-20% when being compared with that of a conventional method in ground target positioning. The larger an inclination angle is, the larger an inclination angle error is, and the more remarkable the performance is.