The problem of multi-sensor cooperative tracking in data packet dropout is studied. Firstly, the data packet loss model is established, and the corresponding compensation strategy is put forward. Then, the target observation model is established. Finally, the algorithm of multi-sensor multi-target tracking based on the information entropy theory is presented. The algorithm based on discrete particle swarm optimization is presented, too. The simulation results show that the proposed method has good compensation effect and can effectively  suppress the data packet loss caused by filtering data divergence and ensure the target tracking accuracy.