Aiming at the problems of high cost, increased volume, low reliability and environmental interference caused by sensor installation on permanent magnet synchronous motor (PMSM), estimation method for motor speed and rotor position is proposed based on iterated cubature Kalman filter (ICKF) algorithm and applied to PMSM sensorless control. First a discrete mathematical model of PMSM in α-β coordinate system is established. Then,the simulation model of sensorless vector control system with double closed loop of speed and current is established for PMSM by using cubature Kalman filter (CKF) algorithm and ICKF algorithm in Matlab/Simulink environment, and the simulation verification of two conditions of given speed and applied load is carried out. Finally, hardware experimental verification platform is built based on TMS320F28335 chip. Both simulation analysis and experimental results show that ICKF application to sensorless control of PMSM demonstrates good anti-load variation interference, stable motor operation, high motor speed and rotor position estimation accuracy, which meets the requirements for motor control precise. The algorithm has important reference value and promotion significance.