In this paper we describe a real time algorithm for a missile-based IR tracking system. A correlation-based tracker is considered to be the primary tracker, while a feature-based is chosen to provide support on a secondary level. A prescreener runs concurrently with the trackers to provide a list of probable target centroids. This information is used to provide a level a confidence to the tracker. The tracker subfunctions are implemented in both programmable logic hardware and software operating on digital signal processors. The maximum sustained pixel data rate that can be processed is 10 MHz, which will provide a 60 Hz tracker with a 256 X 256 input image and a 30 Hz tracker for a 512 X 512 input image. The prescreener functions is implemented in reprogrammable hardware subfunctions that operate up to the full 10 MHz pixel rate producing target centroids.