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近年来,小型无人机在无卫星导航条件下的使用需求日益强烈.针对多目标识别问题,提出一种基于小型多旋翼无人机平台的多运动目标识别定位技术,首先采用一种先快速定位感兴趣区域基于视觉注意机制,再用机器学习算法分析感兴趣区域获取目标的方法.实现了对图像中的指定目标进行追踪,同时还实现对目标的定位,其定位误差小于15 cm.该方法有效降低了光照变化、运动模糊、颜色类似物干扰及复杂背景等因素的影响.以地面机器人作为追踪目标进行算法测试验证,在目标消失时间较短的情况下,能够达到较好的追踪效果.“,”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 ,w hich 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 ,w hich can achieve a better tracking effect .