In order to achieve the tracking of high maneuvering target by compound-axis ATP (Acquisition, Tracking and Pointing) system, in this paper, a target tracking algorithm idea was proposed. In view of the characteristics that the accuracy of the sub-system is much higher than the main system's, a set of observational data with higher precision can be built based on the main system's observational data. Then, carry out two groups of observation data filtering independently with different interactive multi-model sets, and conduct adaptive data fusion processing with the two groups of estimators. The MATLAB simulation results show that the effectiveness of the algorithm. This algorithm achieves the purposes of covering more complex movement patterns with relatively less motion model species, and its calculation is moderate.