In order to improve the dynamic tracking, aiming and firing accuracy of weapon station, a solution of weapon station servo motion control based on disturbance observer is proposed. The dynamic model and the servo control model of the weapon station in the firing process are established, and the disturbance produced by the firing is estimated and equivalent by the disturbance observer, and the compensation signal is sent to the input of the controlled object for control, so as to improve the accuracy of the servo motion control of the weapon station. Combined with the typical operational application profile of the weapon station, the modeling and simulation experiments are carried out under different target characteristics, servo tracking and firing conditions. The simulation results show that the accuracy of the weapon station servo motion control is effectively improved, and the model has innovative and engineering application value.