Abstract： To solve the robustness problem and poor use of the latest measurement information in object tracking with single feature, this paper proposed an improved UPF tracking algorithm based on multifeature fusion. First, the algorithm was improved by using the UPF algorithm with the scaled minimal skew simplex sampling strategy and the IKF algorithm. Then, the uncertain measurement method was adopted to fuse the color and texture features of the object and track the object with the framework of the improved algorithm. The simulation results show that the proposed algorithm improves the tracking accuracy, has a better effect on tracking the object under complex scenes accurately and tracks the occluded object effectively.