A sequential filtering algorithm for target tracking in Doppler radar based on the prediction position conditioned conversion is presented. The nonlinear problem is solved by the measurement conversion and the sequential estimation is used to process the pseudo-measurement to achieve target tracking. The measurement conversion method is based on prediction information, which includes the unbiased position measurement conversion and the debiased pseudo-measurement conversion. At the same time, the algorithm is extended to maneuvering target tracking, the update probability is obtained from position measurement estimation and pseudo measurement estimation, and the final estimation is a combination of pseudo-measurement estimation and update probabilities. The simulation results show that compared with the conventional filtering algorithms, the proposed algorithm can realize target tracking effectively with preferable tracking precision and the extended method can achieve effective maneuvering target tracking.