The embedded tracking system include the Nios processor system, image sample/ display model and communication model. The tracking system is implemented at Altera FPGA development kit, and use the Niso processor to complete the tracking algorithm. 跟踪系统包含Nios处理器系统、图像采集和显示模块、外部通信模块等,硬件电路的验证在Altera的FPGA开发板上完成,利用Nios处理器来完成主要的跟踪算法。