为了满足光电跟踪系统中对“蛇形”机动目标跟踪的要求，针对以前应用的Singer模型的缺陷，根据“蛇形”机动目标运动规律，提出一种机动目标转弯模型，结合扩展卡尔曼滤波算法，对典型“蛇形”机动目标进行跟踪。通过Monte Carlo仿真，实现了在平面内对“蛇形”机动目标位置的准确跟踪，并且距离均方根误差（RMSE）比Singer模型要小很多，从而验证了该方法的有效性。

In order to enable the electro-optical tracking systems to track the “S maneuver” targets, a model with the extended Kalman filtering algorithm against the maneuvering target turn is proposed based on the motion characteristics of “S maneuver” targets to overcome the shortcomings of the previous Singer model. The precision tracking for the “S maneuver” targets in 2-D plane was realized by the Monte Carlo simulation, and the root mean square error of position is much smaller than the Singer model. It proves that this method is capable of tracking the typical “S maneuver” targets.