To solve the problem of low acceleration estimation accuracy in traditional single-missile observation modes against highly maneuvering targets， a novel tracking method based on distributed cooperative measurement is proposed. A multi-missile measurement scheme is established， and observability analysis identifies conditions for enhanced target state estimation. A maneuvering target tracking algorithm is then designed by integrating the Singer model with the extended Kalman filter， considering the measurement features of medium-to-high pulse repetition frequency Doppler radar seekers. Numerical simulations show that the cooperative measurement mode reduces 3D position， velocity， and acceleration errors to 1 m， 0.8 m/s， and 4 m/s²， improving accuracy by 97%， 97.8%， and 84%， respectively.