As the serious lead deviation of the radar will effect on the tracking ability of ship-based optoelectronic equipment a new controlling algorithm combined the semi-automatic searching and TV tracking is provided based on inertial navigation platform and apply to a optoelectronic searching and tracking system.The algorithm is mainly divided into two steps.Firstly the artificial mode turns into a auto-searching when the deviation of guide exceeds the current scene under the course of radar leading.Sencudly when the extration threshold of the image is satisfied for the contrast of the target in the searching scene, the speed computed by using the CA model Least Square Method feeds back to the speed loop, and then combines the TV information to accomplish the closed-loop control of TV tracking. The algorithm is verified by a experiment the Experiment show that the target capturing distance is 16.4 km on the great lead deviation by using the algorithm,which is highter 11 km than that by using the traditional algorithm. The algorithm can implement the semiauto matic searching and tracking,and can reduce capturing and tracking time,improre the optoelectric count measure ability when the lead deviation of the radar is great.