For the image smearing problem when array staring detector being applied in infrared search and tracking system (IRST), the causes of image motion were analyzed. By using homogeneous coordinate transformation relations, the image plane position equation and image motion velocity equation were derived for panoramic scanning, and the mathematical model of image motion was built and analyzed for panoramic scanning. The residual image motion after compensation was pointed out and a scheme of dynamic scanning and staring compensation was proposed. The parameters such as frequency, swing angle and speed accuracy of the staring compensation scanner were determined. And the signals Fourier spectrum was analyzed, thus, the bandwidth of compensation scanner’s servo control system was determined.