A cubature information particle multi-sensors fusion algorithm is proposed to improve the precision of multi-sensors fusion. The algorithm combines Cubature Information Filter(CIF) with Particle Filter(PF), and adopts CIF to propagate particles of PF. The measurement information of multiple sensors is updated into particles of PF by introducing information contribution vector and information contribution matrix, to increase the approximation degree of particles to really posterior probability distribution, and to improve the precision of multi-sensors fusion. Meanwhile, the algorithm takes the state estimation of CIF as current particles, to eliminate the influence of random disturbance on multi-sensors fusion, and the precision of multi-sensors fusion is further improved. Simulation and experiment results show that, the algorithm can deal with the centralized multi-sensors fusion problem, and the filtering precision is high.