Abstract: In recent years, the demand for small Unmanned Aerial Vehicles (UAV) in GPS-denied environment is increasingly strong. To solve the problem of multi-target recognition, we study the multi moving target recognition and location technology based on the platform of the small multi-rotor UAV. We used a method to quickly locate the region of interest based on the visual attention mechanism, and then used the machine learning algorithm to classify the region of interest to obtain the target accurately. Our method can track the specified target in the image and locate the target in real time, which the algorithm delay is about 50ms and the location error is less than 15 cm. Our solution can effectively reduce the influence of light variation, motion blur, the color analogue interference and complex background. The ground robot is used as the tracking target to test and verify the algorithm, which can achieve a better tracking effect.