Abstract: Aiming at the problem of maneuvering target tracking under the clutter environments, we propose a method for the maneuvering target tracking using the Doppler measurement. In our method, the radial velocity, which was estimated with the Doppler measurement, is first introduced to the measurement equation of the target, and then it is linearized after omitting the high-order terms in the Taylor series expansion. The radial velocity gate is added to the radar targets in the association to filter out clutter points. The radial velocity of the target observed is updated with the radial velocity calculated by the Doppler measurement. The simulated results demonstrate that the target location accuracy, velocity accuracy, and the convergence speed of proposed algorithm are all improved compared with those of traditional algorithms. In addition, the influence of the Doppler measurement error on the target tracking performance is also analyzed and the result indicates that the smaller the Doppler measurement error, the better the target tracking performance.