Abstract: In allusion to the situation in which optic-electric tracking system tracking targets with intermittent observations, cooperative tracking with radar was proposed to ensure the constant of measurements. Firstly, the intermittent measurement model of optic-electric tracking system and the cross cueing model in cooperation between optic-electric tracking system and radar were established, multi-sensor sequence fusion algorithm based on particle filter was proposed. Secondly, Renyi information gain at each time was acquired by particle filter to be cross cueing criterions which determine the triggering time and ensure the autonomous cooperation. Simulation results show that this method can achieve a desired and stable tracking performance through selecting a suitable cross cueing threshold, under the condition of minimum radar radiation time.