This paper describes recent team project of RPV and Micro-Satellite Research Laboratory (RMRL) on the development of an unmanned helicopter vehicle system (UHVS). The UHVS is designed to perform the mission of Hovering autonomously, Leading unmanned helicopter system research, Integration of system, Navigation study, and Guidance law design, which is abbreviated as H-LING for the present system. The overall system development includes the hardware integration, the software programming and the overall test in flight. Subsystems such as the vehicle, PC/104 based onboard computer, dual-frequency multi-antenna GPS, attitude and heading reference unit, gimbaled CCD camera, and ground control station are also discussed. For the purpose of real time application and stability under the mission, QNX is adopted as the onboard operational system of the H-LING system. The unmanned helicopter has the ability of tracking moving object via the gimbaled CCD camera. Operators could monitor the helicopter's status and assign the object for CCD to track with the ground control station through the wireless modem. The overall hardware and software architecture are designed to achieve the capability of executing autonomous hovering.