Based on the thought of Extended Kalman Filter (EKF)

the nonlinear filter fusing pose information was proposed by the analysis of relationship between pose and motion characteristic in 2D and 3D

with pose and velocity modulus as its control

the position of target was estimated through state and measurement equations

pose information and position information are fused effectively.The simulation results

which under the condition that pose with different noise

validate the accuracy and real time of the algorithm.