A new algorithm of the real-time target motion parameter estimation and tracking is proposed to overcome the limitation of the real-time motion parameter estimation of the flying target based on pseudo linear estimation(PLE). The algorithm bases on the measurement of the flying target angle. The algorithm uses the Taylor series expansion to the angle measurement equation around the current flying target motion parameter estimation value

and the linear relationship is obtained between the estimated value for the current time flying target motion parameter and the observed value of the angle. Estimations are updated by combining a priori maximum likelihood estimation of the flying target motion parameters and its error covariance matrix with bearing measurements

to achieve the goal that the flying motion parameters are iteratively estimated. The simulation experiments show that the proposed algorithm is fast

stable

effective

and is a real-time processing mode in tracking system without a lot of historical data storage. Computational efficiency can be increased by 50% compared with PLE.