This paper proposed a new overall adaptive algorithm which fuses IMM(Interactive Multiple Model) and IE (Input Estimation) for maneuvering target tracking.The tracking performance of IE is improved significantly through modification of innovation sequence.After analyzing the characteristic of MIE(Modified IE) algorithm

two MIE subfilters with different detection window length are adopted in IMM filter to keep overall self-adaptive tracking of different maneuvering level.Simulation results have revealed better performance characteristics of the proposed algorithm in comparison with traditional IMM which adopts CV-CA models.