Most traditional maneuvering targets tracking algorithms are excessive in relying on the adopted targets motion models, and without making full use of the information of the measure series, so the tracker's performance declines when the targets are maneuvering. Aiming at the problem described above, a new algorithm is derived. The algorithm can be used to adjust the filtering results of a traditional algorithm with targets' course maneuvering series. The simulation results show that tracking precision of the new algorithm is higher than that of the traditional algorithms, so it is simple and effective adaptive maneuvering targets tracking algorithm.