Aiming at the problem of low tracking accuracy caused by the solidification of model probability in the traditional interactive multi-model filtering algorithm,a target tracking waveform optimization algorithm based on improved interactive multi-model filtering is proposed.Firstly,the probability transition matrix is weighted by combining the model probabilities of the two moments to improve the interactive multi-model filtering.Then the bald eagle search algorithm is improved based on tent mapping and Gaussian perturbation.Finally,in the multi-target scenario,according to the maximum mutual information criterion,the improved interactive multi-model filter is used to establish the objective function,and the improved bald eagle search algorithm is adopted to design the optimal transmission waveform.The simulation results show that the tracking error can be significantly reduced by using the algorithm.