The UAV (Unmanned Aerial Vehicle) technology has shown itself to be potential in defense, monitoring, precision agriculture, civil engineering, and many other disciplines. The drones should have consistent flight dynamics during changing climatic circumstances for reliable collection of data. Stealth monitoring and tracking an object (moving or stationary) from a drone is complex. Target GPS position estimation is an essential topic in the area of defense. Compared to GPS-only based target navigation approaches, computer vision-based target tracking and GPS based navigation strategy allow the drone to fly more precisely in a dense environment. In this study, we applied our computer vision based target tracking navigation methodology to estimate target position in real-time. The UAV’s on-board embedded device collects images for movement detection and analyses high definition frames (1080 × 720) at a rate of 26 frames per second. The Region of Interest (RoI)-based method for target position estimate allows users to choose a specific target and determine its actual position.