Abstract: A Kalman-PDA approach (defined as KalmanV-PDA) using radial velocity is proposed. When probabilistic data association (PDA) is combined with Kalman, the radial velocity track gate is established using radial velocity. The expression of the radial velocity track gate is deduced, radial velocity dimension is introduced to the measurement equation, and radial velocity of target observed is updated with radial velocity measured by moving targets detection (MTD). The results of simulation demonstrate that the algorithm can improve the accuracy of target prediction and improve the tracking performance of the target compared with the standard KalmanPDA algorithm, and the MTD velocity measurement error has little effect on the tracking performance.