In order to track maneuvering target in three-dimensional space fast and accurately, aiming at the radar system which can detect radial and angular velocity, a new target tracking algorithm in the three-dimensional space based on the current statistical algorithm(CS) is presented up, which uses the radial velocity and angular velocity. First of all extended one-dimensional CS algorithm to three-dimensional CS algorithm, and then lead velocity measurements in it. The result of simulation shows that when radial velocity and angular velocity is adopted, its convergence speed and convergence precision is increased. The introduction of velocity can improve the algorithm's tracking performance, which has some significance for project practice.