In order to improve the accuracy of tracking target trajectory of anti-ship missile with snaking maneuverability, a target tracking method combining CT turning maneuverability model with nonlinear filtering is proposed.Firstly, CT model is used to successfully simulate the trajectory of S maneuver, and then the tracking effects of EKF and UKF on S maneuver target is compared and analyzed.Although UKF is superior to EKF in precision, its operation time is significantly increased compared with EKF.In order to improve the real-time performance of UKF algorithm for target tracking, the mini-skewness sampling is adopted to reduce the number of sampling points, the distribution of sampling points is optimized by means of proportion correction and the linear operation is carried out directly by combining the actual state equation with the measurement equation.Simulation experiments show that the tracking effects of the improved UKF on the S maneuver target is similar to that of UKF, significantly better than that of EKF, and the computing time is reduced by 50% compared with that of UKF.