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When tracking maneuvering targets, the sudden changes of target states and nonlinear problems in passive tracking cause serious decline and even divergence in the performance of some conventional algorithms. Taking this into account, a novel adaptive tracking algorithm for maneuvering targets is proposed in this paper. First, a new weighed factor could adaptively adjust the filter gain is introduced in Modified Input Estimation (MIE) algorithm to improve its tracking performance. Then, the least squares technique is combined for tracking passive multi-sensor maneuvering targets in high accuracy without any priori information of maneuver. Simulation results show the effectiveness of the proposed algorithm. Compared with the traditional MIE and fuzzy MIE algorithm, this algorithm has a better tracking performance.