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Abstract A Projectile is a shot object which fired from firearms or air rifles. There are various sizes of projectile. One of them is 12.7 x 99 mm caliber projectile. The higher speed of 12.7 x 99 mm caliber projectile makes the less accurate, it is for the shot to hit the right target. It is necessary to estimate that the projectile reaches the right target. The projectile movements are modelled by three degrees of freedom (3-DOF) and have a non-linear equation. So the estimation used is The Extended Kalman Filter, but it would be combined with Kalman Filter Method. Measurement data is assumed to be linier. And we have all data measurement of projectile motion. The estimation results are simulated with Matlab. The final result of these studies show that Extended Kalman Filter has small error than Kalman Filter with error estimation of EKF is 92.02% smaller in the x-position, 97.38% smaller in the z-position, 94.99% smaller in velocity projectile, and 95.45% smaller in gamma angle and the computational time is 0.925% faster than KF method. [ABSTRACT FROM AUTHOR]