Location estimation and tracking for the mobile stations have attracted a significant amount of attention in recent years. In order to offer sufficient precision for wireless location tracking, different techniques have been studied and combined, e.g. the Least Square methods for location estimation associated with the Kalman filters for location tracking. In this paper, an Unified Kalman Tracking (UKT) technique is proposed to provide an integrated algorithm for precise location estimation and tracking. Based on the Time-Of-Arrival (TOA) measurements, a new variable is incorporated as an additional state within the Kalman filtering formulation in order to consider the nonlinear behavior for wireless location estimate. Numerical results illustrate that the proposed UKT algorithm can achieve enhanced accuracy for mobile location tracking, comparing with other existing schemes.