The problem of direction tracking of target with varying direction based on antenna array was addressed, and the effect of mutual coupling was also considered. By exploiting the special banded Toeplitz form of the mutual coupling matrix of uniform linear array, the technique of appending assistant antennas at each side of the original array was introduced for mutual coupling compensation. After that, particle filters were used to obtain real-time direction estimates of the maneuvering targets based on the mutual coupling-compensated array output. Numerical simulations were carried out, showing the satisfying performance of the proposed method in direction tracking.