UAV　is　increasingly　popular　in　the　field　of　military,　civil　and　scientific　research,　since　its　low　loss,　strong　adaptability　and　high　mobility.　This　paper　introduces　the　design　and　implement　of　the　visual　tracking　system　based　on　the　rotor　UAV,　and　gives　the　UAV　a　function　of　continuous　and　stable　tracking　of　the　ground　target.　Based　on　the　standard　Mean　Shift　algorithm,　we　introduce　the　improved　object　tracking　algorithm　with　the　spatial　histogram　and　scale　estimation.　The　robustness　to　scale　adaptive　and　background　related　interference　is　improved　with　the　enhanced　tracking　algorithm.　It　is　finally　implemented　in　our　image　processing　board　with　TMS320C6657　and　ZYNQ　7020.　The　whole　system　is　optimized　and　accelerated　by　both　of　the　two　core　of　DSP.　We　finally　achieve　the　real-time　tracking　and　monitoring　of　the　ground　target　in　the　range　of　100m　similar　to　1km.