A novel double-layer tracking algorithm for turning maneuver target is proposed．It contains the inner layer and the outer layer．The inner layer is composed of function based current statistical (FB-CS) model, in which an activate function whose argument is the innovation variance’s trace were introduced, and then employ the activate function to dispose the error covariance of the acceleration and the frequency of the maneuver, the filter is to attain the direction angular as the input of the outer layer. The outer counter part is composed by curvilinear model, in which the direction angular, the angular velocity and the tangential acceleration were calculated based on the angular output of the inner. Because of the reasonable design of the models, the tracking precision for turn maneuver is improved significantly. Experiment demonstrates the efficiency of the proposed algorithm．