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Abstract An improved filtering algorithm, called the EttAF adaptive filtering, is proposed in this paper. Compared with the available algorithm, the equivalent observation error in the fusion centre from the external sensor is considered, which makes the observation noise matrix of the filter dynamically adjust according to the relative relationship between the fusion centre and the external sensor. The strong manoeuvring target is modelled based on the CS‐jerk model, and the error adaptive variation equation is derived for the external data. Simulation results show that compared to traditional algorithm the EttAF algorithm can effectively improve the accuracy of position and velocity by 10.8% and 22.3% respectively.