[Objective] To address the issues of slow response speed, low observation accuracy, and poor anti-disturbance capability in trajectory observation for permanent magnet synchronous motor (PMSM) position and speed estimation using traditional extended state observers (ESO), an improved ESO trajectory observer based on adaptive acceleration compensation is proposed. [Methods] Adaptive acceleration feedforward compensation was introduced into the traditional ESO, enabling online adaptive adjustment of the feedforward acceleration based on position observation errors. This enhancement improved the dynamic accuracy and response speed of trajectory observation under strong disturbance and transient operating conditions. [Results] Simulation results showed that the proposed improved ESO trajectory observer reduced the position observation error by 61.53% and the angular velocity observation error by 58.6% compared to the traditional ESO-based observation method under strong disturbance and transient conditions. [Conclusion] The proposed improved ESO trajectory observer effectively enhances response speed, dynamic accuracy, and anti-disturbance capability in trajectory observation. With excellent observation performance, it offers significant engineering application value.