跟踪含噪信号时，传统的自适应跟踪微分器会有扰动引入到速度因子和滤波因子参数中，导致系统跟踪紊乱从而跟踪到噪声。针对这个问题，分析了噪声引入的原因，研究了传统自适应跟踪微分器的性能，提出了将跟踪间距的滑动窗口标准差估计作为输入的自适应函数来调整滤波因子和速度因子的改进跟踪微分器(IATD)的实现方法。仿真结果表明，IATD具有精确的参数调整能力，噪声条件下拥有更快的跟踪速度，同时在宽范围信噪比条件下也具有更强的噪声抑制能力。

When tracking noisy signals with traditional adaptive tracking differentiator,disturbance may be introduced into rate factor and filtering factor of the differentiator and leads to disorder and tracking to the noise.To solve this problem,the cause of noise was analyzed,performances of adaptive tracking differentiators were studied,and an Improved Adaptive Tracking Differentiator (IATD) was proposed.By using the adaptation function taking the Moving Window Standard Deviation (MWSD) estimation of track spacing as input,the IATD could adjust the rate factor and filtering factor optimally.Simulation indicates that IATD can adjust factors more accurately and rapidly with noisy input,and has better noise restraining ability in wide range of signal noise ratio.