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In view of the difficulty of detecting and tracking for the target of "low, slow and small" all-weather detection by a single detection method, the active and passive composite detection technology of radar and opto-electronic system is used, combining the advantages of both to improve the positioning accuracy, and realize the precision of the pulsed Doppler radar scanning detection, then guide opto-electronic system to track accurately. Firstly, the quaternion method is used to establish the spatial registration model of the radar coordinate system and the opto-electronic coordinate system, and the data after the spatial registration is transmitted to the photoelectric system, and the optical TV field will automatically turn to the target; when the radar and the opto-electronic detect the same target, The weighted time registration of radar and photoelectric detection target data is carried out by the least square method, and finally the registered data is filtered and predicted by the extended Kalman filter interactive multi-model algorithm (EKF-IMM), which improves the continuous tracking ability of the composite detection system, at the same time It has strong adaptability to the target in different motion states. The simulation and experimental analysis show that the target is detected and tracked by the method of composite detection, and the EKF-IMM algorithm is used to reduce the noise interference and improve the target tracking ability and accuracy,The precision of the model is about 7% higher than that of traditional model.