To solve the problem on coarse tracking and fine tracking of single detector multiple-axis in space laser communication, a necessary condition was obtained by analyzing the two-dimensional matrix associated control. Based on this condition, a single detector composite shaft structure was proposed that worked in a new way. In the process of tracking, the camera directly worked with a sub axis actuator to complete the fine tracking, while the spindle tracking information was provided by the shaft axis angle deflector of the sub axis actuator. And then the image processing algorithm, position detecting algorithm, and the coarse and fine servo control algorithm were implemented in field programmable gata array that effectively realized the light and compact design of the system. An experimental system was built in the laboratory, and the field programmable gata array hardware and the system tracking performance were tested. The results show that the accuracy of tracking by the single detector compound control system is better than 3 μrad, which lays a certain foundation for the engineering.