To improve the precision of maneuvering target tracking under non-Guassian noise condition, a tracking algorithm based on Interactive Multi-Model ultimate iterative Unbiased Finite Impulse Response (IMM-ultimate iterative UFIR) filter is proposed. The algorithm takes the ultimate iterative UFIR, which has lower sensitivity to errors in the noise statistics, as its sub-filter to estimate the state of each model, and the state of maneuvering target is obtained by fusing the states of multiple models.Simulation results show that: under complex noise conditions, IMM-iterative UFIR has a higher precision than that of the Interactive Multiple Model Kalman Filter (IMM-KF), and less calculation cost than that of IMM-PF, which has a good balancing between the tracking precision and calculation amount.