Cubature Kalman Filter(CKF) is one of new nonlinear filters, its accuracy and efficiency are better than Extended Kalman Filter(EKF) and Unscented Kalman Filter(UKF). But the traditional CKF was proposed based on third order cubature rule and the filter accuracy was restricted. So the spherical-radial cubature rule was expended from third order to fifthorder, the fifthorder cubature rule based on two kinds of cubature point was used, a new fifthorder CKF was proposed. The restriction of traditional CKF in theoretic accuracy was improved by the new fifthorder CKF. The simulation results of the maneuvering target tracking show the validity and feasibility.