Abstract: A scheme about multi-sensor data fusion based on adaptive filter is developed for improve tracking precision for moving power-driven target under complicated air-battle environment. At first, optimal weight for sensors are found by measuring data to optimize target point x of anytime. Secondly, the x point is put into adaptive filter as input signal. Plus matrix is adjusted according to change of state noise and observation noise of system at the same time. According to adaptive filter system state noise output and current data, weight for sensors is adjusted on line by using fuzzy logic system. Finally, the output signal is a fusion track that is gained passing through two class self-adapt signal process. The simulation result demonstrates the fusion algorithm is effective.