For the tracking failing caused by target moving in large scale variab le velocity when tracking ground target with the camera in the airborne environment,a two-stage acceleration (TSA) dynamic mode particle filter tracking algorithm is proposed. Based on the framework of the two-stage (TS) dynamic model proposed by Kri stan et al.,the motion features of ground target which is tracked with the camera in the airborne environment are analyzed and modeled. The conservative model of the two-stage (TS) dynamic model is improved to accommodate the accelerated motion.The two-stage acce leration dynamic model which can describe target moving in large scale variable velocity is proposed as the dynamic model of particle filter tracking algorithm,the states of particles can be predicted precisely,and then robust tracking can be realized u sing less particles.The proposed algorithm is tested with video sequences for tracking ground target with the camera in airbo rne environment,and the results show that the proposed algorithm can track ground target moving with large scale variable velo city stability,the accurate rate is 92%,and the average computing frame rate is 29frame/s when the object scale is about 25pix el×130pixel.The algorithm proposed in this paper has better robustness and rea l-time quality.