Abstract: Aiming at the imprecision of maneuvering target tracking by using traditional input estimation algorithms,a modified maneuvering target tracking algorithm of IE is proposed.It improves the precision of detection and estimation of successive jump input through modification of innovation sequence in detection window and compensation of state variable.The approaches significantly improve the detection probability as well as estimation precision.Simulations verify that modified algorithm performs better than the original IE and IMM3 algorithm in tracking of continuous maneuvering.It can track maneuvering targets with variable acceleration as well.