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With a set of merits such as self-hiding, far-distance detection, and easy deployment, the Single Observer Passive Location and Tracking (SOPLAT) system has broad applications in various areas. Owing to the serious nonlinear problems of SOPLAT, the traditional Extended Kalman Filter (EKF) is unfit for it. A new tracking filter for the highly non-linear SOPLAT system is proposed in this paper. The proposed filter uses the particle filter to locate the emitter, and then uses the EKF (Extended Kalman Filter) to track the emitter. By using this method, the convergence speed and the precision of the tracking filter can be improved, as well as the stability of the filter. And the computational cost is not out of the system ability. Experimental results indicate that the new filter has better convergence speed, tracking precision and other performances than EKF in SOPLAT.