The authors consider the problem of partially blind source separation of continuous chaotic signals from a linear mixture, in which the generating systems of chaotic signals are assumed to be available and the mixture matrix is unknown. Determination of the mixture matrix is firstly formulated as a problem of the synchronisation-based parameter estimation. Then an efficient parameter estimation method by exploiting the generating dynamics of chaotic signals is introduced. The estimated mixture matrix is used to design a signal separator to blindly separate the mixed chaotic signals. Three examples are given to illustrate the applicability of the proposed approach for the mixed chaotic signals generated by different and/or same dynamical systems and contaminated in measurement noise. In comparison with statistics-based methods, the new approach can solve the magnitude scaling indeterminacy and shows the separability of the mixed signals in strong noise background.