According to the single location equipment application in cellular networks, the principle of the novel passive location technology is presented in detail based on TSOA/TDOA in the paper firstly. Then the equation of observation is set up by the mathematical model of the TSOA/TDOA location system, and the speed and shift of the mobile are described with the uniform motion state model which is affected by the random acceleration. Finally the locating and tracking algorithm is put forward and derived based on square-root unscented kalman filter, and implements the estimation of the mobile position and speed at the same time. The result of simulation shows the algorithm proposed in the paper has superior performance by comparing with extended kalman filter algorithm and unscented kalman filter tracking algorithm.