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This work presents a 3D tracking method that exploits both the physics of narrowband echolocation and the dynamics of the sensor, taking inspiration from narrowband (CF-FM) bats. The platform used in this work is RoBat, a biomimetic sonarhead mounted on a mobile platform. Two different techniques are integrated in the tracker. First, the Barshan and Kuc method (1992) for estimating target range and azimuth angle is adapted to the geometry of the sonarhead. Next, Walker's arc scanning hypothesis for target elevation estimation in CF-FM bats is implemented, applying curve fitting for an accurate estimation of the peak-delay. The integration of both techniques in a 3D tracking system is performed, applying both methods independently. A more sophisticated method which requires the geometric model to be revisited and a better time-of-flight estimation method, is also proposed.