To advance the system campaign efficiency for air defense weapon system located on the ground, based on the technique characteristic and the good mutual complementation for active and passive radar in new weapon system, a synergistic work model for active and passive radar is put forward. Moreover, based on the superiority of interactive multi-model (IMM) algorithm and unscented kalman filter (UKF) in dealing with the strong maneuvering target and the nonlinear filter problem, and considering the real-time requirement for tracking system, a self-adaptive IMM-UKF algorithm is put forward and designed. Through the Monte Carlo simulation, performance of it has been improved compared to that of work alone model, and the results demonstrate that the synergistic work model and the updated algorithm are effective and superior.