Abstract: To address the insufficient accuracy and poor real-time performance of traditional interpolation methods for Hall sensors when Hall signals are misaligned, a rotor position and speed estimation method for permanent magnet synchronous motor based on Hall vector tracking is proposed. First, the three-phase Hall signals are decomposed into two orthogonal Hall rotation vectors. Then, an adaptive gain coherent tracking filter is used to filter out the high-frequency interference components in the Hall rotation vectors and obtain the fundamental component containing the rotor position and speed information. Finally, a vector tracking observer is utilized to extract this accurate rotor position and speed information. Simulation and experiments demonstrate that the proposed method can effectively reduce the rotor position and speed estimation errors caused by Hall signal misalignment. It provides high estimation accuracy, good vector control performance, strong practicality and engineering application value.