Abstract: Due to uncertainty in structure and uncertainty of flow field, the mode of the controllable-structure semi-ballistic reentry vehicle (SBRV) is usually unknown. Based on the analysis of the characteristics of the controllable-structure SBRV's motion and mode, the space-filling model set is proposed. The new model set is designed according to Hicknell's criterion. Compared with the model set generated by the Monte Carlo method, the new model set has a higher credibility and a smaller estimation error, and is more sensitive to maneuver. Theoretical analysis and simulation results show the reasonableness and efficiency of the space-filling model set for the maneuver tracking problem.