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An improved A* algorithm with double cost functions is proposed to plan the trajectory for Unmanned Aerial Vehicle tracking surface targets. The strategy of trajectory planning for UAV tracking targets is designed at first, based on which the cost functions of mid-object points and trajectory segments are proposed with fuel consumption, length of trajectory, and maneuverability. Then the A* algorithm is adopted with adding-weight to the evaluations, by which the balance is achieved between trajectory optimization and computing time. Meanwhile the computing efficient is improved by change the method of deleting and adding knot in the open list. At last, the simulation results of tracking trajectory show that the A* algorithm advanced in the article could plan optimal trajectories for unmanned aerial vehicles tracking target quickly and efficiently.