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To solve the problem of lack of low-cost preventing runway incursion technology in small civil aviation airports, a model for preventing runway incursion based on the image information of ground protection zone from camera is proposed. We first establish the tracking algorithm of field aircraft by using the transfer learning Mask R-CNN. Then, a logic circuit, which combines the camera signals with the cameras layout of the ground protection zone, has been proposed for determining runway incursion. The proposed method is verified by a scaled down airport model. Simulation results demonstrate that the proposed method of its accuracy 95% is effective in the treatment of field target tracking, leading to runway incursion determination.