文中针对单站红外被动式跟踪存在可观测性问题 ,提出红外与激光主 /被动单目标联合跟踪方法。该方法首先针对三维空间任意机动目标的跟踪问题 ,将参考文献 [1]给出的一维机动目标“当前”统计模型推广到三维情况 ,得到三维情况下跟踪任意机动目标的状态方程和跟踪系统的非线性测量方程 ,然后对红外探测器测量的角度信息和激光测得的距离信息进行融合对准 ,得到正确的测量值。最后 ,提出扩展的自适应卡尔曼滤波算法并进行了仿真研究。仿真研究表明方案可行 ,可同时对三维空间目标的位置、速度、加速度进行估计 Aiming at the observability problem of single-station infrared passive tracking, a joint tracking method of infrared and laser primary / passive single-target is proposed. Firstly, this method extends the “current” statistical model of one-dimensional maneuvering target given in Ref. [1] to the three-dimensional case for the tracking of any maneuvering target in three-dimensional space. The state equation and tracking system for tracking any maneuvering target in three- The nonlinear measurement equation is then used to fuse and align the angle information measured by the infrared detector and the distance information measured by the laser to obtain the correct measurement value. Finally, an extended adaptive Kalman filter algorithm is proposed and simulated. Simulation studies show that the scheme is feasible and can estimate the position, velocity and acceleration of the target in three-dimensional space at the same time