The invention relates to a radar target tracking method with Doppler observation in a spherical coordinate system. The method comprises a pseudo measurement construction step in which a product of distance measurement rm(k) and Doppler measurement r'm(k) obtained by a radar at present time k is used to construct pseudo measurement (transform Doppler); a measurement transformation step in which measurement in the spherical coordinate system is transformed to a rectangular coordinate system; an unbiased first-second moment calculation step in which an unbiased first-second moment of a transformation position measurement error and an unbiased first-second moment of a transformation Doppler measurement error are calculated; a pseudo state space construction and pseudo information extraction, via CDMKF, step in which a transform Doppler eta(k) at present time and a derivation eta'(k) are used to construct a pseudo state space, and pseudo state information is extracted; a Cartesian state information step in which target Cartesian state information is extracted; and a static fusion step in which the pseudo state information in the pseudo state information extraction step is fused with the Cartesian state information extracted in the Cartesian state information step.