A method, system, and computer readable medium for performing a generalized angle-based tracker for a target determines angle-based information from a target signal, and initializes a Stationary Surface Filter (SSF), a Moving Surface Filter (MSF), and a Pseudorange Kalman Filter (PKF) with the angle-based information. Next, the SSF and MSF are scored by the PKF. If the information is associated, then the SSF, MSF, and PKF are updated. It is determined if at least one plausible Constituent Kalman Filter (CKF) exists for the SSF and MSF. If at least one CKF exists for the SSF and no CKF exists for the MSF, then the target is stationary surface; if at least one CKF exists for the MSF and no CKF exists for the SSF, then the target is moving surface; if no CKF exists for both the SSF and the MSF, then the target is moving airborne.