Abstract: To solve the problems of false alarms, large elevation error and losing detections in airborne early warning radar, a new tracking method was proposed based on air-ground PDA-UCMKF in WGS-84 coordinate system for airborne early warning radar to improve the track initiation and target tracking. A state and covariance update formula was deduced in WGS-84 for airborne early warning radar to achieve target tracking quickly in high altitude. Compared with NN-UCMKF method, the association and tracking effects of PDA-UCMKF were simulated in mixed wave condition. The results show the efficiency and reliability of PDA-UCMKF method, and easy to implement in engineering.