During　multi-target　tracking　and　positioning,　the　rotorcraft　is　influenced　by　the　occlusion,　illumination　changing,　etc.　These　factors　will　result　in　losing　the　tracked　target.　To　solve　this　problem,　a　segmentation　approach　of　multi-target　tracking　and　positioning　is　proposed.　Firstly,　the　shortcoming　of　single　color　feature　inability　to　accurately　describe　a　target　is　considered.　The　color　and　edge　features　of　the　target　are　used　to　establish　likelihood　function　for　tracking　target　according　to　a　certain　weight　coefficient.　Meanwhile,　the　particle　filter　algorithm　which　can　solve　the　tracking　problem　of　target　occluding　is　also　utilized.　Then,　camshift　and　particle　filter　algorithm　are　switched　by　using　the　similarity　degree　between　target　template　and　candidate　target　template.　In　this　way,　the　robustness　and　real-time　ability　of　the　algorithm　are　guaranteed.　The　proposed　approach　can　be　applied　to　control　the　rectilinear　and　round　flight　of　the　rotorcraft.　©　2018,　Science　Press.　All　right　reserved.