With the algorithm, the current state of maneuvering target can be estimated directly and correctly without assuming the model of maneuvering acceleration.

A linear state equation is got from selection of maneuvering acceleration. The adaptivity of adaptive tracking Kalman filter is represented by estimation of maneuvering commander at real time.

Based on the algorithm of maneuvering acceleration current statistical model adaptive filtering, the adaptive kalman filtering algorithm based on QR matrix decomposition is presented in this paper.