Abstract: To satisfy the requirement of high location speed and stability, the paper presents an improved algorithm for 3-D moving emitter passive location and tracking using the frequency and spatial measurements by single non-moving observer. This method firstly takes full advantage of the spatial and frequency changing information to estimate the velocity vector of the emitter via the Pseudo-Linear Kalman Filter (PLKF) algorithm, which can be used to obtain the position vector, the Kalman filter is to improve the location accuracy by taking the estimation of the position vector as measurements; the computer simulations show that the method has high location accuracy and fast convergence speed.