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We propose a new semi-blind joint channel tracking and symbol detection for spatial multiplexing MIMO system. The proposed algorithm is based on the generalized pseudo Bayesian algorithm (GPB) and probability data association (PDA). The purpose of the GPB algorithm is to control the size of the filtering tree and the Gaussian approximation idea behind PDA is applied to each time instant to reduce the model size. Simulation results are given to demonstrate the effectiveness of the new algorithm.