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Maneuvering target tracking with Doppler measurements is investigated. This paper presents a linear filtering method, converted Doppler measurements Kalman filter (CDMKF), to estimate a pseudo state vector, which consists of the converted Doppler and its derivatives. Then the output of CDMKF is combined with the output of converted position measurements Kalman filter (CPMKF) by a nonlinear static estimator outside the filtering recursions. This constructs a new state estimator which is named as parallel converted measurements Kalman filter (PRL-CMKF). Simulation results demonstrate the effectiveness and robustness of the proposed CDMKF and PRL-CMKF.