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For the case of a single resolved target, monopulse-based radar sub-beam angle and sub-bin range measurements carry errors that are approximately Gaussian with known covariances, and hence, a tracker that uses them can be Kalman based. However, the errors accruing from extracting measurements for multiple unresolved targets are not Gaussian. We therefore submit that to track such targets, it is worth the effort to apply a nonlinear (non-Kalman) filter. Specifically, in this letter, we propose a particle filter that operates directly on the monopulse sum/difference data for two unresolved targets. Significant performance improvements are seen versus a scheme in which signal processing (measurement extraction from the monopulse data) and tracking (target state estimation from the extracted measurements) are separated.