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The variation of frequency is a significant indicator of the operation status of rotating machinery. Generally, the frequency is extracted and tracked in real-time based on the vibration signal produced by the rotating machinery. However, various interferences generated from contact sampling and transmitting result in difficulty in obtaining the frequency correctly in real-time from the vibration. To solve this problem, this paper presents an interpolated Kalman filter (IKF) based on the vibration and surface noise signals for real-time frequency tracking. First, the cross-correlation operation is performed on the vibration and surface noise signals sampled synchronously to enhance the energy concentration. After that, a frequency search procedure is carried out to calculate the input of the tracking task. Finally, an IKF-based frequency lock procedure is applied to eliminate the interferences and track the frequency in real time. Besides, a correction procedure is added to prevent the measurement process from tracking the frequency incorrectly. The performance of the proposed method is verified by the experiments based on an ARM-based test bench using standard signals and actual test signals. [ABSTRACT FROM AUTHOR]