Wideband phased array radar can obtain high resolution range profile (HRRP), which makes it possible to obtain the pose of the target aided by HRRP. A new maneuvering target tracking algorithm based on HRRP is proposed. Firstly, the pose of the target is estimated in real time by HRRP, and then the pose is added to the measurement equation of the radar. Combining the advanced nonlinear filter algorithm, the interacting multiple model-unscented Kalman filter algorithm based on the pose of the target is proposed. The results of simulation demonstrate that compared with the traditional algorithm, the proposed algorithm could greatly improve the target tracking accuracy (position precision and velocity precision). The smaller the pose measurement error is, the better the target tracking performance is.