To improve the real-time performance of target track pose estimation, an algorithm for establishing dynamic template library with reduced dimensions is proposed on the basis of Jerk-model-based track pose filtering and the guidance of filtering innovation. First, the three-dimensional target model is reduced to a two-dimensional model by use of the relationship between the azimuth angle and roll angle of the track. Then, the track pose is filtered by using Jerk model, and the maneuvering state of target is judged based on the innovation of pose angle filtering, which is used for guiding the establishment of the lower-dimensional dynamic template library in real time. The simulation results demonstrate that the algorithm is effective for dynamic template establishing, which can reduce the size of library,improve the efficiency of pose angle estimation, and keep a certain level estimation precision.