The use of coordinated detection technology can effectively improve the target tracking accuracy. Traditional coordinated detection fusion algorithm uses the measurement obtained in polar coordinates system for filter fusion. When it is transformed into Cartesian coordinates system, coupling error will be introduced, and the system delay error with unknown statistical property cannot be restrained, thus reducing the tracking accuracy. Centralized fusion method is adopted in this paper. Firstly, the measurement data by multiple platforms are de-biased and time alignment is performed, and it is transformed into Cartesian coordinates system, making the measurement noise be Gaussian distribution with known parameters. Then, the measured value through de-biased transformation and the measured covariance matrix after correction are input to the fusion center;and fusion algorithm is constructed by taking the advantage that H∞ filter is insensitive to the statistical property of error, which effectively overcome the influence of multi-platform system delay error fluctuation, and improves the fusion accuracy. The simulation results show that the proposed algorithm can effectively improve the coordinated detection fusion accuracy.