Due to the shortcomings of small combat area，low accuracy，blind spot from the traditional airborne multi-platform passive location and tracking system，an adaptive modified Unscented Kalman Filter for passive location and tracking method based on multi-platform time difference was proposed. Considering the different operational environment，the model was deduced and analyzed. After that，the difference algorithm was introduced to do the filter processing for the outliers from fuzzy and no solution problem. The result was compared. It was demonstrated that with the adaptive modified Unscented Kalman Filter algorithm，the location and tracking method decreased the influence from the outliers，availably improved the location accuracy and stability，broaden the task scope of airborne multi platform.