The finite set statistics provides a mathematically rig- orous single target Bayesian filter （STBF） for tracking a target that generates multiple measurements in a cluttered environment. However, the target maneuvers may lead to the degraded track- ing performance and even track loss when using the STBF. The multiple-model technique has been generally considered as the mainstream approach to maneuvering the target tracking. Moti- vated by the above observations, we propose the multiple-model extension of the original STBF, called MM-STBF, to accommodate the possible target maneuvering behavior. Since the derived MM- STBF involve multiple integrals with no closed form in general, a sequential Monte Carlo implementation （for generic models） and a Gaussian mixture implementation （for linear Gaussian models） are presented. Simulation results show that the proposed MM-STBF outperforms the STBF in terms of root mean squared errors of dynamic state estimates.
