Extended Kalman Filter(EKF) and converted measurement Kalman Filter(CMKF) have been widely used in radar target tracking. However ,when cross-range measurement errors of target position are serious, the performance of conventional EKF and CMKF degrades considerably. In this article debiased converted measurement Kalman Filter(DCMKF) is inferred with velocity measurement. Simulation results show that DCMKF has a higher accuracy than EKF and CMKF.