本文提出了包含多普勒和声传播时间延迟的接收信号模型；提出了在直升机目标做匀速直线运动的条件下，将声基阵获得的测向信息与多普勒频移信息融合，估计目标运动参数的算法，并用蒙特卡罗方法分析了该算法的估计精度；仿真结果表明该算法可实现较高的估计精度，测距精度满足实用要求；最后研究了应用该算法的自适应跟踪问题． In this paper, a receiver signal model including Doppler and time delay of acoustic propagation is proposed. It is proposed that the target information obtained by the acoustic array is fused with the Doppler shift information under the condition of a uniform linear motion of the helicopter, and the target And the Monte Carlo method is used to analyze the estimation accuracy of the proposed algorithm. The simulation results show that the proposed algorithm can achieve high estimation accuracy and meet the practical requirements. Finally, the adaptive tracking problem using this algorithm is studied.