The invention discloses a system and a method for positioning a mooring unmanned aerial vehicle based on force sensing. The use of an auxiliary positioning sensor is reduced by positioning a mooring rope, the cost of the mooring unmanned aerial vehicle is reduced, and an outdoor weak GPS environment can be effectively overcome. The stability of indoor flying of the unmanned aerial vehicle is improved for indoor positioning in a GPS-free environment. The system and the method are wider in application field and can be applied to inspection of GPS-free or weak-GPS scenes such as tunnels and hydroelectric dam flood discharge gates, and a new positioning direction is guided for robot systems working cooperatively on the ground and in the air.