A data fusion algorithm was established for estimating the state of target tracking system with multi-type sensor. Through Kalman filter regarding the multi-sensors to computer goal estimated value, it can obtain estimation value of goal at moment. And mean square deviation of fusion estimation value was smaller than single sensor's mean square deviation. The simulation results indicated that synchronisms data fusion method was effective to the multi-target tracking problem. Asynchronous multi-sensor fusion process can obtain good control effect in the practice control process.