Modern tracking radar systems aim to increase the tracking accuracy with low computational cost in order to realize a high tracker performance. The target maneuver and the non-linear relationships between the measured quantities and target coordinates, have a high effect on the tracker performance. In this work a new method for realizing robust tracking has been carried out within two stages to realize integration processing through estimation and tracking stages in order to increase the ability of tracking dynamic targets. First, the modified TS-ESPRIT method is introduced to realize a high accurate DOAE with low computational loads. Additionally, the T-DIT method for Doppler shift estimation with low computational loads is introduced then the effect of Doppler frequency on the TS-ESPRIT method has been derived in order to curb target maneuver effect on the DOAE process. Finally, the modified TS-ESPRIT method is applied within a tracking radar system based on a-ß filter adapted with a renewed weight factor depends on target maneuver to realize more accurate association and smoothing processes. The new method achieves high accuracy at low SNR with low computational complexity.