Aiming at the feature of Electronic Support Measures (ESM) detecting the bearings and Doppler frequencies simultaneously, a target tracking algorithms is proposed which uses ESM’s Doppler frequency and bearing measurements based on Modified Gain Extended Kalman Filter (DB-MGEKF). Compared with bearings-only target tracking algorithm, DB-MGEKF increases the Doppler frequencies measurement and introduces the MGEKF which can handle the nonlinear system preferably. The method improves the accuracy of target estimates as well as the stability of the filtering. Moreover, the observer’s maneuvering can be avoided. Monte-Carlo simulations with result analysis further illustrate the effectiveness of the algorithm.