Three-dimensional modeling of building environments and indoor positioning is essential for emergency response in cities. Traditional ground-based measurement methods, such as geodetic astronomy, total stations, and global positioning system (GPS) receivers, cannot meet the demand for high precision positioning and it is therefore essential to conduct multiple-angle data-acquisition and establish three-dimensional spatial models. In this paper, a rapid modeling technology is introduced, which includes multiple-angle remote sensing image acquisition based on unmanned aerial vehicles (UAVs), an algorithm to remove linear and planar foregrounds before reconstructing the backgrounds, and a three-dimensional modeling (3DM) framework. Additionally, an indoor 3DM technology is introduced based on building design drawings, and an indoor positioning technology is developed using iBeacon technology. Finally, a prototype system of the indoor and outdoor positioning-service system in an urban firefighting rescue scenario is introduced to demonstrate the value of the method proposed in this paper.