This paper considers tracking of a non-cooperative emitter based on a single sensor. To this end, the direct target motion analysis (DTMA) approach, where the target state is straightforwardly achieved from the received signal, is exploited. In order to achieve observability, the sensor has to perform a maneuver relative to the emitter. By suitably building an approximated likelihood function, the unscented Kalman filter (UKF), which is able to work under high nonlinearity of the measurement model, is adopted to recursively estimate the target state. Besides, the posterior Cramér-Rao bound (PCRB) of DTMA, which can be used as performance benchmark, is also achieved. The effectiveness of proposed method is verified via simulation experiments.