With　the　development　of　unmanned　aerial　vehicle　(UAV)　technology,　more　and　more　unmanned　aerial　vehicles　have　entered　various　fields,　including　the　aspect　of　moving　target　detection.　Due　to　the　characteristics　of　the　drone,　the　captured　video　does　not　have　a　fixed　background,　which　makes　the　traditional　moving　target　detection　algorithm　unusable.　Herein,　this　paper　proposes　a　self-matching　detection　algorithm　based　on　Gaussian　mixture　model　and　CSIFT.　This　algorithm　is　applied　to　unmanned　On　board,　under　the　background　of　moving　targets,　the　target　can　be　identified　when　there　is　relative　movement　between　the　target　and　the　background.　©　2020　ACM.