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In this paper we present a new multitarget tracking algorithm for use in centralized multisensor tracking situation. At first, the algorithm permutes and combines the measurement from each sensor using the rule of generalized S-D assignment algorithm. Then, all of measurements in each assignment are combined into one equivalent measurement according to their weight in the assignment. Finally, the joint association probability of each equivalent measurement is calculated, and then the state estimation in fusion center is obtained. In this paper, some typical simulations are used to compare the performance of the algorithm with the other centralized multisensor joint probabilistic data association (MSJPDA) method, and the results show that the performance of the algorithm here is much better.