In order to solve the problems of long handover delay and high packet loss rate existing in FMIPv6,an improved scheme named PI-FMIPv6 was designed.Information learning,proxy binding and the tunnel timer were introduced into it so as to complete the configuration of the New Care-of Address(NCoA),Duplicate Address Detection(DAD),Binding Update(BU) by advancing and managing the tunnel.π-calculus was used to define and deduce the mathematical model about PI-FMIPv6.It is proved that the optimized scheme PI-FMIPv6 is standard and precise.Furthermore,the simulation results from the NS-2 show that PI-FMIPv6 can reduce the handover delay by 60.7% and packet loss rate by 61.5% at least compared to FMIPv6,which verifies that the PI-FMIPv6 is superior to FMIPv6 and can better meet the real-time requirement.