In order to improve the performance of maneuvering target tracking, a RA-Jerk-EKF method is proposed by integrating the target radial acceleration into the measurement matrix, thus to improve the tracking accuracy by increasing the dimensions of measurement matrix.In the proposed method, the radial acceleration is derived based on Fractional Fourier Transformation (FRFT) in signal processing phase, and is then brought into the measurement vector through coordinate transformation.In data processing phase, a method of Extended Kalman Filter (EKF) based on Jerk model is adopted to resolve the problem of the non-linearity of the measurement equation in filtering.Simulation is made to compare the proposed method with the traditional Jerk model based EKF without acceleration measurement.The results show that the proposed algorithm has better performance on tracking accuracy, and estimation accuracies of position, acceleration and velocity are improved at the same time.