Considering that the vertical takeoff and landing(VTOL) unmanned helicopter has good maneuverability, a method for tracking mobile platform and transporting cargo by unmanned helicopter is presented. A mobile platform is designed for tracking experiment by the unmanned helicopter. The cargo, placed on the mobile platform, can be picked up and stacked by unmanned helicopter while tracking the platform. The mobile platform system consists of a mobile car platform, a motion controller, a guiding device and a ground control system (GCS). The integrated navigation system based on MEMS-SINS/GPS is the core of the guiding device to estimate the position and the velocity of mobile car platform. Moreover, a method is proposed for providing multiple target locations by single GPS antenna position , which helps the unmanned helicopter to pick up and stack goods conveniently. A set of GCS with kind interface is also developed to monitor the communication between the guide device and the unmanned helicopter.