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A new Kalman Filtering model for 3D constant turn (3DCT) target had been presented. This paper makes a study of changing measurements from Pole coordinate to Cartesian coordinate. Then on this basis, this paper uses the method of EKF to make nonlinear equation linearity in the case of unknown pitch and azimuth angular velocity (Convert Measurements Kalman Filtering, CMKF). At last a method for the pseudo kalman filtering using radial velocity and angular velocity is presented for radar awareness system (Adopted Velocity Kalman Filtering, AVKF) which can detect target radial velocity and angular velocity. Simulation results indicate that the 3DCT can increase the convergent rate and precision.