In the field of airborne multi-sensor data fusion,the sensors errors in spatial measurement will have adverse effects on state estimation accuracy.To solve the problem,a novel error estimation and compensation algorithm is proposed.The time-invariant errors,i.e.the fixed part of measurement bias,can be quantitatively acquired by using the Minimum Mean Square Error (MMSE) based parameter estimation method.Furthermore,error registration is combined with target track estimation,which will effectively improve state estimation accuracy.Simulation results show that the improved algorithm can effectively suppress the effects of system errors.