Aiming at the position control problem of laser beam-riding guided missile, a PID position control method based on Kalman filter is studied. First of all, the relative motion relationship between the missile and the target is deduced, and the analytical expression of the overload that the missile needs to be used in the three-point guidance process is given. Because the beam-riding guided missile can only measure the position deviation of the missile relative to the beam-riding center, the tracking differentiator is used to track the position information and extract the differential signal of the position. The Kalman filter is used to filter the position signal and the position differential signal, and also to estimate the target acceleration. The position signal and differential signal obtained by filtering are applied to the PID position controller, and at the same time, the compensation of the target acceleration is introduced into the controller. Finally, numerical simulations verify the effectiveness of the proposed method.