This　paper　proposes　an　unmanned　aerial　vehicle　(UAV)　rapid　autonomous　landing　strategy　in　GNSS-denied　environments　using　pan-tilt　based　visual　servoing　(PTBVS)　system.　First,　we　propose　a　PTBVS　system　for　navigating　the　UAV　landing　on　a　square　platform.　Through　the　status　of　the　airborne　camera　and　image　information,　the　relative　position　information　between　the　UAV　and　landing　point　can　be　obtained　for　navigation.　Second,　we　made　the　UAV　move　horizontally　and　vertically　at　the　same　time　when　returning,　which　greatly　shortens　the　flight　distance　and　reduces　the　landing　time.　Moreover,　in　different　landing　stages,　we　adopt　different　positioning　information　acquisition　methods.　When　the　UAV　is　approaching　the　landing　point,　it　uses　the　PTBVS　system　for　navigation.　Instead,　it　uses　the　pixel　coordinate　offset　of　the　landing　point　to　further　improve　the　landing　accuracy　when　landing　vertically.　Finally,　we　put　forward　the　PTZ　and　UAV　control　algorithm.　The　PTZ　control　which　keeps　the　landing　point　in　the　center　range　of　the　image　consists　of　the　time　delay　and　PID　control.　And　the　UAV　control　guides　the　UAV　to　return　and　land.　We　test　the　proposed　landing　algorithm　in　the　simulation　platform　and　the　actual　environment.　It　is　proved　that　the　proposed　method　can　bring　the　UAV　earlier　visual　foresight,　less　landing　time,　and　higher　landing　accuracy.　©　2021　Elsevier　Masson　SAS