In this paper, after defining pure proportional navigation guidance in the 3-
dimensional state from a new point of view, range estimation for passive homing missiles is
explained. Modeling has been performed by using line of sight coordinates with a particular
definition. To obtain convergent estimates of those state variables involved particularly in
range channel and unavailable from IR trackers, nonlinear filters such as sequential U-D
extended Kalman filter and Unscented Kalman filter in modified spherical coordinate
combined with a modified proportional navigation guidance law are proposed. Simulation
results indicate that the proposed tracking filters in conjunction with the dual guidance law
are able to provide the convergence of the range estimate for both maneuvering and nonmaneuvering
targets.