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In order to solve the problem that how a sheltered target is predicted and tracked, adaptive kalman prediction algorithms are presented and a test platform is setup. First, gimbals angle prediction algorithms are deduced according to adaptive kalman filter algorithms based on current accelerate mode. Second, sampling period selection in the adaptive prediction algorithms is studied. Finally, experiments are executed to verify the correctness and precision in the condition that several different target motion situations are designed and carried out on the two-axes revolving table. It is concluded that the command from prediction is decreased by 67%. Angular position data only needs seeker framework, without off-target bombs target distance and the amount of data to meet the target under occlusion conditions forecast track functional requirements.