The drone tracking system comprises two modules: the gimbal camera assembly and the target recognition and tracking assembly. The gimbal camera module performs visible light imaging and outputs field-of-view angular velocity data. The target recognition and tracking module features autonomous target identification, person-in-loop detection, automatic target tracking, and image compression capabilities. Once a target is locked, the gimbal camera continuously outputs the camera's field-of-view angular velocity relative to the target. The flight controller employs a proportional guidance algorithm to achieve automatic targeting and engagement of the tracked subject.