The invention belongs to the technical field of target tracking, and discloses a maneuvering target tracking technology based on double-layer expectation maximization. The method comprises the steps that: firstly, N
radar measurement vectors y<1><k> - y<N><k> of a maneuvering target are correspondingly obtained by real-time measurement of N radars, and the
radar measurement vectors y include the distances from the maneuvering target to the radars,
azimuth angles and change rates of the distances from the maneuvering target to the radars; secondly, a first layer
expectation maximization algorithm is used on the N
radar measurement vectors y<1><k> - y<N><k> to obtain an estimated set of maneuvering target state vectors x shown in the specification and an additive unknown interference pseudo measurement [theta] set shown in the specification, and the additive unknown interference pseudo measurement [theta] set is transmitted to a second layer
expectation maximization algorithm; thirdly, after the second layer
expectation maximization algorithm receives the additive unknown interference pseudo measurement [theta] set, mixed
Gaussian distribution is utilized to fit first-order and second-order moment of the additive unknown interference pseudo measurement [theta] set, and the mean value [mu]<[theta]><k> and the
covariance p<[theta]><k> of the additive unknown interference pseudo measurement [theta] set are obtained; and fourthly, by means of kalman filtering, the mean value [mu]<[theta]><k> and the
covariance p<[theta]><k> of the additive unknown interference pseudo measurement [theta] set are utilized to obtain a state estimated value shown in the specification. By adopting the technology, the analyticity and convergence of parameter identification are ensured, and the technology is capable of improving the precision of target state
estimation.