An improved angular velocity estimation mode for turn maneuver is proposed．The model is based on modified
current statistical(CS) model, in which an activate function whose argument is the innovation variance’s trace is introduced.
The activate factor is used to dispose the error covariance of the acceleration and the frequency of the maneuver. The direction
angular is obtained by the filter . Then the curvilinear model can track the turn maneuver neatly based on the direction angular,
the angular velocity and the tangential acceleration calculated by the angular output of the new model. The angular velocity
can be estimated by the proposed model, and the tracking precision of turn maneuver is improved significantly. Simulation
experiment shows the effectiveness of the proposed algorithm．