Atmospheric turbulence creates a light spot on the focal plane of the receiving end scintillation and angle of arrival fluctuation in optical wireless communication. The combination of a spot centroid detection algorithm and Kalman filter (KF) is proposed for spot tracking. The theoretical calculated value of the spot circle fit is filtered to obtain an optimal estimate of the spot center. The root mean square error of the detected spot centroids is used as an evaluation metric to verify the conventional algorithm and KF algorithm for the real-time tracking of the laser spot at transmission distances of 1.3, 4.1, and 10.3 km. The results show that the root mean square error of the spot in the pitch direction decreases from 0.740, 2.537, and 7.256 pixels to 0.683, 1.792, and 4.756 pixels, respectively, whereas the root mean square error of the spot in the horizontal direction decreases from 0.481, 2.131, and 5.932 pixels to 0.463, 1.471, and 4.362 pixels, respectively, compared with the conventional algorithm at three transmission distances. The envelope fluctuation of the baseband signal at the receiving end is significantly improved using KF algorithm compared with the conventional algorithm, which improves the stability of the optical wireless communication link.