In view of the nonlinear estimation problem of target tracking system under heterogeneous network environment

a unified orthogonal cubature Kalman target tracking(UOCKT)approach is proposed.The new approach introduce an additional variable to represent the nonlinear terms of the state variables

the adaptive weighting factor is set to adjust the specific gravity of the different signal input system

and then the two kinds of signals are merged into a single state variable by mathematical means

and finally through the orthogonal cubature Kalman filter(OCKF) to achieve the target state quantity update

so as to realize the positioning and tracking of the target.The simulation results show that the algorithm is effective and can get higher positioning and tracking accuracy.