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In view of the problems of inaccurate coordinate information, dramatic changes in flight attitude and trajectory in the directional communication of high dynamic unmanned nodes under the complex electromagnetic environment. In order to maintain reliable beam aligning and tracking, a fingerprint database update compensation algorithm based on Kalman filter is proposed. Firstly, the Kalman filter algorithm is used to predict and update its own attitude, and a new carrier coordinate system is established. The improved algorithm is used to predict and update the beam pointing, and the fingerprint database is used to update and compensate the mean value and covariance matrix of the state vector. Adjusting the sampling ratio , and the new data is stored in the fingerprint database to update the fingerprint database data. then the secondary state information is predicted to complete the final beam pointing. The overall design of the beam tracking algorithm process is more in line with the actual application scenarios and meets the needs of UAV ad hoc networks. The simulation results show that the success rate of maintaining normal communication is more than 92 % in 100 communication time slots with half-beam width of 3 °, which is 8 % higher than that of traditional tracking algorithm. It has more stable communication quality.