Abstract: According to a high aspect ratio and V-shaped empennage unmanned aerial vehicle (UAV), a flight control strategy based on searching and tracking ground target was researched. A control method was designed with which a single-axis camera detecting system eliminated vertical error and UAV heading control loop eliminated horizontal error on field of view. By simulating and analyzing the UAV-s motion state and using six-degree-freedom nonlinear equations, an adaptive proportion integration differention (PID) controller was designed. And the designed algorithm was applied to the experiment of ground target tracking. The simulation and flight experiment results indicate that the UAV-s dynamic performance is well realized under the influence of sudden wind and other large disturbance. The designed control system effectively inhibits the coupling influence of the UAV-s attitude control channel to the optical axis control channel and meets the requirement of the flight missions.