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The motion tracking method based on image has wrong detections and observation dropouts due to the image degradation. To solve this problem, the motion tracking method based on fusion sensing data of phone and UAV is proposed. The phone’s and UAV’s IMU data and the camera’s image data are input for EKF(Extended Kalman Filter). Besides, IMU data is used for estimating the system state while the moving target’s coordinate calculated by ORB method, the coordinate is used for EKF measurement update, then correct the state estimate by the data calculated from the EKF. Finally, the feasibility of this method is verified by using the real datasets that simulate the UAV tracking scenario. Experimental results demonstrated this method’s superior accuracy on UAV platform compared to the single camera vision tracking method.