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In tracking launched targets such as flying objects using 2D/3D sensors, two main issues are conceivable. One is to consider range estimation technique from 2D sensor measurements in using only 2D sensor measurements and data fusion method in using both 2D and 3D sensor measurements. And another is to take into account motion models for launched targets on several typical phases. In this paper, we propose a new tracking algorithm for launched targets using 2D/3D sensor measurements. Besides IMM algorithm is used for different motion model for each phases. As the result of the computer simulations, we can confirm the basic performance of proposal method.