According to the scan characteristic and observation information of 2D sensor, the observation model for three-dimensional moving target using single station was built, and an elevation parameterized extended kalman filter (EPEKF) algorithm for target in three-dimensional constant velocity was presented. Firstly, the elevation region of the sensor was divided into several subintervals. Then, the algorithm performs parallel absolute extended Kalman filter in each subinterval and the weights of each filter was updated according to the tracking result. Finally, the estimation from each filter was fused to obtain the final state estimation of the target. The accuracy and stability of the proposed tracking and location algorithm for the target in 3D space can be confirmed by the simulation results.
