In order to assist landing of unmanned aircraft vehicle (UAV), a vision-based method is proposed, which makes use of runway lights. Simple configure of runway lights is set up refer to standard runway lighting. EPnP method is extended to line based pose estimation after the lines made up of runway lights are extracted. Each line is expressed as a weighted sum of three control points, and the camera coordinates of the control points can be estimated through singular value decomposition (SVD). Then, with the orthogonalization method, the position and attitudes of UAV are calculated, to provide the navigation information for UAV landing. Simulation results show that the algorithm proposed is accurate in the earlier stage of landing.