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Virus,trojan and malware on embedded systems have brought signif-icant effect for the information security of the industrial control systems(ICS).ICS as the national core infrastructure,the security affects the national economy and livelihood of all people.Trusted computing technology(TCT)is a technol-ogy developed and promoted by the trusted computing group(TCG).At pre-sent,TCT has been applied to the general systems,such as multitasking and dis-tributed systems.However,it is necessary to verify the feasibility of applying TCT to the specific systems with high real-time requirements.This paper im-plements a trusted real-time operating system(tRTOS)based on Preempt-rt,which turns the original linux kernel into a fully pre-emptible kernel.The soft-ware trusted platform module(SW-TPM)is built in the kernel mode to provide trusted computing services.After that,the schedule policy and priority of tpmd,which is the daemon of SW-TPM,have been adjusted.In this approach,tpmd may not be pre-empted while running.It means that,SW-TPM can provide ser-vices of encryption,attestation at real-time,which can meet the requirements of RTOS in embedded systems.This paper has measured the execution time of several TPM commands in the tRTOS and a contrast system.A comparative test is carried out between tRTOS and a non-real-time system.The result shows that,the average execution time of TPM commands in the tRTOS is reduced by 15.3%without system interference,and 32.7%with system interference.