The invention discloses a tracked robot slide parameter detection method. According to the method, by introducing an optimal estimation theory and a terrain detection algorithm, the estimation value of slide parameters of a robot can be obtained. The detection method includes the steps of conducting initialization, collecting data of sensors, conducting terrain detection, adjusting a process noisevariance of a slide system, detecting the state, updating the state and outputting an estimation value of a slide coefficient. In the process of predicting the state, a colorless conversion mode is introduced to ensure the accuracy of state prediction under a strong nonlinear condition; since the terrain detection is introduced, when an obvious change happens to terrains, the process noise variance of the slide system can be adjusted according to the method. By means of the adaptive mechanism, the stability of estimation of the slide coefficient can be ensured, the convergence time is shortened at the same time, and the method is suitable for scenes with complicated terrains.