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Efficient detection and tracking of moving target hidden by walls is of interest for rescue, surveillance and security operations. However, in the process of real-time tracking, there are usually some wrong target locations - noise points in the tracking trajectory. This paper gives a short overview of the complete tracking process with all required phases of radar signal processing. Then the paper focus on the tracking phase and a threshold filter for real-time measurement with low computational complexity is introduced for target tracking. It will be shown by some real data acquired from UWB radar that the use of this new filter can efficiently remove the noise points therefore provide good smoothing of the target trajectory.