When a certain maneuvering target is inputted, the bias information will change, based on this fact, an adaptive algorithm is designed. According to the residuals of target tracking, the maneuvering frequency of the target is adaptively adjusted, so that the maneuvering frequency is close to the true state of the target. Simulation results show that the tracking error of this model is less, and the algorithm is characterized by simple calculation, high tracking precision and easy realization.