For airborne pulse Doppler (PD) radarthe blind Doppler zone (BDZ) is inevitable. To solve the problem of tracking maneuvering targets in BDZa joint tracking algorithm of radar and Electronic Support Measure (ESM) based on extended Kalman particle filter (IMMEPF) was presentedwhich combined the advantages of interactive multiple model (EMM)particle filter (PF) and extended Kalman filter (EKF)and adopted multimodel structure to match the targets movement model. Particle filter was capable of handling the nonlinearnonGaussian problemand EKF was used to generate particle.The particle distribution was closer to a posterior probability density distribution due to its consideration of current measurementswhich overcame the particle degradation phenomenonthus improving the estimation accuracy. Simulation results showed that the given algorithm could significantly improve the tracking accuracy of targets hidden in BDZ.