Considering low accuracy even divergence of maneuvering target tracking due to inaccurate tracking model and uncertain statistical propertywe proposed an adaptive Square Root Cubature Kalman Filter (SCKF) based on the standard SCKF and modified SageHusa estimator.The proposed algorithm can estimate the statistical parameters of unknown system noises onlineand restrain the tracking error caused by unknown system noises effectively;hence it is applied to maneuvering target tracking.The simulation results show that:comparing with SCKF algorithm，the adaptive SCKF can provide better accuracy and stability for maneuvering target tracking when the unknown or time variant system noises is some different from the prior noise knowledge.