A nonlinear aircraft tracking filter using a point mass flight dynamics model with three degrees of freedom is presented. While the models used by conventional air traffic control tracking filters are based on simple kinematics, the model for the present filter is based not only on kinematic relations but also on three-dimensional aircraft translational force equations and control variables. This allows for practical and sophisticated implementation of the attitude effects on translational acceleration. The control variables, which consist of the angle of attack, roll angle, and thrust setting, are treated as states with random processes. Tracking with simulation data indicates that the present filter is superior to other single and multiple model-based filters in terms of position and course accuracy, and the model associated with it is insensitive to flight motion types and design parameters. The results of tracking with real flight data also correspond well with those found by tracking with the simulation data.