Runway debris visual automatic detection system is one of key measures that ensure efficient and safe airport operation. It can automatically recognize runway debris with visual detection methods, and determine the orientation of scanning system with attitude estimation method, then realize automatically detect debris. In this paper, the recognizing method of fixed feature navigation lights that are used to calculate system orientation are researched on. Runway area and background are detached by recognizing runway lines. Navigation lights are recognized and matched by the method of image matching. Experimental result show, runway can be separated and recognized from complex environment, and navigational lights can be matched quickly in the algorithm. The reliable fixed feature is supplied for followed determining scanning system orientation and located debris.