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Abstract-Aiming at the existing problems of current algorithm for maneuvering target tracking, the paper proposed a new scheme that uses a joint radar-communication (JRC) system with Kalman filters to accurately tracking the target with the generalized likelihood ratio test (GLRT) theory. First, the tracking model of extended binary phase shift keying (EBPSK) modulated JRC system is introduced. Also, generalized likelihood ratio (GLR) and marginalized likelihood ratio (MLR) algorithm were given. Moreover, an adaptive maneuvering target tracking algorithm using interacting multiple model (IMM) technique is combined with Kalman filters to adapt the target maneuver. In addition to theoretical considerations, the EBPSK modulated JRC system based on the proposed algorithms on maneuvering target tracking problem are validated and evaluated by computer simulations.Index Terms-Extended binary phase shift keying (EBPSK), interacting multiple model (IMM), Kalman filter, maneuvering target tracking, joint radar-communication.