A system was developed previously which was successful in landing a helicopter autonomously on a stationary target using vision and global positioning system. In this research we focus on the problem of tracking and landing on a moving target using an autonomous helicopter as a platform. We track a moving target using a downward looking camera mounted on a helicopter. Trajectory planning is performed to allow the helicopter to land on the target. Data from flight trials show that our tracking system performs well. Based on the tracking information, our controller is able to generate appropriate control commands for the helicopter in order to land it on target. We use Hu's moments of inertia for precise target recognition and a Kalman filter for target tracking. Based on the output of the tracker, a simple trajectory controller is implemented which (within the given constraints) ensures that the helicopter is able to land on the target. We present data collected from manual flights which validate our tracking algorithm.