Aiming at the problem that infrared guided missile cannot measure guidance information such as the relative distance, line of sight(LOS) rate and target acceleration directly, the observability of a single missile was less, and the target location error was large, considering the measurement characteristics of infrared seeker, geometrical relationship among multiple missiles and the target was used to locate the target cooperatively. Multiple missiles cooperative tracking the target model was established. The distance between missiles and the target was estimated by calculating the relative motion between missiles, and it was used as pseudo quantity measurement. The new measurement equation was constructed combined with the angle measurement information of seeker. The relative distance and LOS rate was estimated by Kalman filtering algorithm. Aiming at the maneuvering target, an interactive multiple model filtering cooperative tracking method was studied. The maneuvering model of real target was estimated by weighted fusion of multiple target maneuvering models. Simulation results show that the proposed method can effectively improve the estimation accuracy of the stationary/maneuvering target.