Abstract: The invention relates to a method of controlling an UAV along a predefined path and to an UAV positioning system, the system comprising: —at least one flexible positioning stripe (30) comprising markers (32) distributed along said positioning stripe (30) to form different configurations of patterns, each of said configurations of patterns defining a reference position along the flexible positioning stripe (30), wherein said positioning stripe (30) may be positioned along a predefined path, —an UAV (12), —a position estimation module (14) mounted on the UAV and comprising a camera (16) configured to capture images in real-time of said configuration of patterns along the flexible positioning stripe (30)—a control unit (20) configured to control the velocity of the UAV.