The invention discloses an aircraft attitude cross-field of view estimation method and device based on local features, and the method comprises the steps: carrying out Tag recognition on an input RGBimage, recognizing the position of the input RGB image after the Tag is detected, carrying out aircraft center positioning, and obtaining an aircraft center position coordinate based on depth information; Then, calculating a maximum frame score to select an optimal input image, extracting feature points from the input RGB image, and converting the feature points into three-dimensional points in combination with a depth map; And after a light beam adjustment method is used to solve the camera attitude, converting the camera attitude; And finally, initializing a conversion matrix between the camera and the aircraft, converting the camera attitude into an aircraft attitude, converting the aircraft attitude into a six-degree-of-freedom attitude, and outputting the six-degree-of-freedom attitude. The real-time demand of aircraft attitude estimation is met, the real-time performance is good, and the precision is high.