Runway incursion might occur while civil aircraft taxiing on airport surface with low visibility. The history of civil aviation at home and abroad has recorded several catastrophic accident which caused many deaths due to runway incursion when taxiing. In recent years, more and more people choose airplanes to make longdistance transportation. Therefore, the annual throughput of the huge airport hub has increased significantly, which leads to more occurrence of runway incursion. The civil aircraft authorities for each country pay increased attention on runway incursion events, while airliners request to install a set of airport surface collision avoidance system to avoid the occurrence of runway incursion. This program established a prototype of airborne runway incursion alerting system based on a large airport moving map, set up a four headings moving aircraft module. Hierachical runway incursion alerting algorithm has been developed and multiple intruder scenario has been introduced in this system. Both 2D and 3D simulation have been conducted in MATLAB/Simulink and FlightGear. The effectiveness of the system solution and the correctness of the algorithm have been verified finally.