The Scheduling algorithm is one of the most important portions of embedded operating systems especially for real-time embedded operating systems. The performance of scheduling algorithm will influence the performance of the whole system. Realtime embedded operating system needs better response time for real-time process; it is more rigid on response time for hard real-time embedded operating system. A high-performance scheduling algorithm is required in order to make embedded operating system more efficient. Most of the mainstream scheduling algorithms are able to ensure response time for most processes, but for specific real-time applications for embedded system, a specialized real-time scheduling algorithm is required to ensure real-time response. In this paper, we propose a novel real-time scheduling algorithm for real-time embedded system. This algorithm divides all tasks into different Sets and schedules the tasks according to the features of the Set.