The invention, which relates to the technical field of the unmanned aerial vehicle, discloses a positioning method and apparatus and an unmanned aerial vehicle. The positioning method applied to a
mobile station comprises: receiving differential data sent by a
base station; collecting original navigation telegraph text data and inertial navigation data; and carrying out fusion on the differential data, the original navigation telegraph text data and the inertial navigation data to obtain current position information of the
mobile station. The differential data and the original navigation telegraph text data are obtained by a Beidou
navigation system. According to the invention, the method, apparatus, and equipment are suitable for a high-
dynamic positioning environment; and while the positioning precision is guaranteed, the price can be lowered to a certain extent.