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Taking mobile targets, such as agricultural vehicles and mining equipments, as the research object, the position and pose tracking technology is proposed under three-axis accelerometer and three-axis gyroscope aimed at realizing autonomic movement in unknown environment. Firstly, dynamic characteristics and kinematic model are built. Secondly, using three-axis accelerometer, the position and pose of mobile target are resolved based on the multi-parameters. Then, a prototype system for verifying the proposed position and pose method is developed. The estimation results indicate that the mean errors of roll, pitch and yaw are 0.33°, 0.26°and 0.38° respectively under static state, while the dynamic errors of pose detection are 1.01°, 0.64° and 0.83° respectively. The mean errors of position estimation are 0.76, 0.52 and 0.56 m respectively under static state. Meanwhile, the accumulation error caused by three-axis accelerometer can be eliminated under the aid of zero-velocity update, which can effectively track the trajectory.