提出了廣義合作目標的概念及誤差空間估計方法，提高了光電跟蹤系統的跟蹤精度與平穩性。該方法采用引導數據與引導誤差描述目標的運動，通過將目標的機動分散到引導數據和引導誤差，在目標狀態空間中根據目標的運動模型進行濾波，在誤差空間中根據引導誤差模型進行濾波與預測，再進行合成得到目標位置預測數據。實驗結果表明在相同的機動水平下，該方法的跟蹤性能優于Kalman濾波與強跟蹤濾波。

To improve tracking accuracy and stability of optic-electronic target tracking system, the conception of generalized synergic target and an algorithm named error-space estimation method are presented. In this algorithm, the motion of target is described by leading data and leading errors, then maneuver of target is separated into leading data and leading errors to reduce maneuver level. The prediction data of target position are acquired by synthesizing the filtering data from target state-space according to kinematics model and the prediction data from error-space according to leading error model. Differing from typical multi-model method, the kinematics model and leading error model work concurrently rather than switch between models. Experiment results show that the performance of the algorithm is better than Kalman filter and strong tracking filter at same maneuver level.