To tackle the problem of complex maneuvering target tracking,an algorithm of Adaptive Random Weighted Cubature Kalman Filter (ARWCKF) is proposed.As the preprocessing process of Interactive Multiple Model (IMM) algorithm,this algorithm conducts filtering on different motion models.In order to improve the stability of the algorithm,a random weighted factor is introduced.A time-varying factor is used to adjust Markov probability transfer matrix,which improves the probability conversion accuracy of IMM algorithm.Compared with IMM-CKF algorithm,the proposed IMM-ARWCKF algorithm has higher tracking accuracy and better stability in dealing with complex maneuvering targets.