The Javascript in this gist can be used to grab a parameter (in this example, called "hop") from the URL's query string and place that value into a hidden form field (in this example, with an id of #inf_field_FieldName.)
There are two assumptions in this example, so you should alter them for your own use case.
For example, if you are accessing this page at http://example.com/?hop=something, then this example would retrieve a value of "something". If your URL parameter is called something other than "hop", change it on Line 8 of the example script from
document.getElementById('inf_field_FieldName').value = getUrlParameter('hop');
to
document.getElementById('inf_field_FieldName').value = getUrlParameter('otherparameter');
Assumption 2: the Infusionsoft hidden field you're using is called "FieldName".
In reality, this will be whichever field you're trying to populate. So, for example, if you're trying to populate a First Name field, that ID would be "inf_field_FirstName". So you would modify Line 8 of the example script from
document.getElementById('inf_field_FieldName').value = getUrlParameter('hop');
to
document.getElementById('inf_field_FirstName').value = getUrlParameter('hop');