When tracking a maneuvering target by multiple passive sensors, it is difficult to match a tracking model with
the actual motion pattern due to the uncertain changes of target states and the existence of nonlinearity. Therefore, a new
maneuvering target tracking algorithm is proposed based on adaptive curvilinear model. A new model of direction angle is
introduced to designe the estimation method of the adaptive turning angular velocity and calculating tangential acceleration
at each sampling time, through which the curvilinear model matching well with the actual motion pattern can be obtained.
Then, the classical EKF is combined to tracking the maneuvering target, which effectively improves the target tracking
accuracy for multiple passive sensors.