No idea without knowing your workflow. Standard Camera Tracking works like this:
- Make sure that the footage is suitable for camera tracking
- Suitable footage has little or no optical distortion
- Panning shots give little or no depth information and are not as usable as truck or tracking (move side to side), or dolly shot (move in and out of the scene)
- When camera tracking has completed you should set an origin and ground plane by selecting a surface that lines up with a large horizontal surface in the shot
- Add a solid and a camera using the same target and tracking markers you used to set the origin and ground plane
- Verify the camera track is accurate by adding Effects>Generate>Grid to the solid, lining up the grid lines with the perspective in the shot and scaling the solid up to cover enough of the surface to verify that your track is good
- Check the track. If the reference solid with the grid applied does not stick to the surface then you have to adjust the settings in camera tracker and solve for the camera again
- When you reference grid tracks perfectly you can select other tracking markers that line up with surfaces and add additional layers
- You can use Shift + Parent to move any 3D layer into the same position as a placed null, text or solid layer.
- To keep placed layers from floating must make sure that the tracking points and the targets that you use are lined up with the right geometric shape in the shot
- If you need a placed 3D layer to be above or offset from a surface in the shot you first move the layer into the same position as the reference layer, adjust the rotation appropriately, then offset the layer in X, Y, and Z as required (this is where the reference grid you added to the origin and ground plane becomes extremely useful)
- When everything is lined up the way you want it to be you can turn off the reference layers you have added and finalize the composite
The most likely cause of your problem is the improper selection of an origin and ground plane and selecting tracker points that are not located on the same plane. It also looks like there may be a framerate issue. Your footage is awfully jerky. All of the steps I listed sound like a lot of extra work but in almost every case they will save you a lot of time because if the origin and ground plane is set accurately and the reference grid tracks perfectly, it is an easy task to place the rest of the objects in the shot in the right 3D space.