Abstract: The method of the revise Extend Kalman Filter (EKF) is used in the problem passive TMA of a constant known depth in three dimensions. The model of motive system is made in the light of measurements of target bearings, elevation and frequency by passive sonar. Pseudo-linear method is used in new information due to nonlinear measurement equation. Then revise EKF equation is gained. In the other hand, data is divided in to groups in adding stability of filter. Simulation shows that this algorithm can gain effective parameter estimation which error covariance curves is reduced rapidly, thus this passive TMA of precise estimation can be realized in this algorithm.