Abstract: Adaptive adjustment of maneuvering frequency in targets tracking is studied so that the value of maneuvering frequency can be in accord with the actual maneuvering situation.Changes in the maneuvering frequency can be detected through the Kalman filter residual whether it accords with zero mean Gaussian distribution. The simplified least-mean-square error(LMS) algorithm is adopted to adjust the maneuvering frequency adaptively.In the simulation test,the position error and velocity error of maneuvering targets was seen to be reduced greatly.It indicates that the adaptive adjustment of maneuvering frequency is effective.