Due to the reasons of sensors in itself and the communication delays, the research of the asynchronous multisensor data fusion problem is more practical than that of synchronous one. Based on minimizing the trace of the fusion error covariance matrix, the asynchronous multisensor data fusion algorithm is presented. The multisensor track fusion is valid for asynchronous sensors as well as synchronous sensors. The algorithm makes up for the drawback that asynchronous fusion is limited to one-one sensors fusion. Significantly, the extensive multisensor asynchronous sensor fusion model is established. The analyse of algorithm in the theoretical deduction is presented. The format of algorithm is concise and applicable. Finally, simulation results show the asynchronous mulitsensor fusion is effective and the performance of the model is superior to that of single sensor.