For target tracking carried out by Unmanned Aerial Vehicles (UAVs), CamShift algorithm is easily influenced by color similar background interference and sheltering interference, thus we made improvement to the algorithm.Firstly, considering that the tracking template of CamShift has little information and is easily influenced by color similar background, we proposed an improved CamShift algorithm based on 2D histogram template with H and LBP, by which the robustness to color similar background was improved, and the valid frame rate was increased by about 21%.To the problem of easily influenced by sheltering interference in target tracking, the Kalman prediction algorithm was introduced into CamShift algorithm, which could improve the robustness and tracking efficiency under sheltering interference, with the valid frame rate increased by about 25% and the average iterative time of per frame decreased by 36%.