This paper addresses the maneuvering target tracking with a single ESM sensor where only the bearing and elevation measurements are available and used for the target trajectory estimation. In single ESM tracking system the maneuvers of observer platform are required for the observability. The maneuver detection procedure for ESM tracking system is based on NIS. In view of the nonlinearity of the measurement equation, the two-stage extended Kalman filter (EKF) is used for target trajectory estimation. A simulation scenario illustrated the effectiveness of our algorithm.