Abstract: Radars have sound performance in orientation and infrared sensors have excellent performance in angle measure.Radar and infrared sensor is exceptional sensor system of a typical heterogeneous sensors combination,but heterogeneous sensors information fusion for no mathematical tools and methods and are facing many difficulties.This paper first introduced UKF(unscented Kalman filter) to heterogeneous sensors combination.And it used the centralized measurement fusion UKF to solve the information fusion of heterogeneous sensors combination of synchronization configuration and synchronous sampling.The simulation results show that This algorithm of SMSE are much smaller.