Abstract: This paper is concerned with design and implementation of embedded tracking system capable of dealing with slow motion ground vehicle, which is carried out to upgrade the second generation anti-tank guided missile system (ATGM), which based on manual target tracking, to third generation ATGM (Fire and Forget system), which based on automatic target tracking. The nonlinear flight simulation model of underlying ATGM system is described in MATLAB environment. The new technology of system on chip embedded systems are a good platform especially embedded system under linux operating system for real time application especially computer vision application. The tracking algorithm is described using C++ programing language and implemented based on Raspberry pi system. Hardware-in-Loop experimental test is carried out to evaluate and validate a methodology of the proposed work for achieving the overall system requirement of accepted flight trajectory and accepted minimum miss-distance.