This paper presents the synthesis of an optimal multi-loop range coordinate tracking filter for highly maneuverable targets. The single-loop range finder has weaknesses in tracking agile targets due to prolonged transient processes, non-linearity, decreased stability, and performance when increasing the static multiplicity. The proposed multi-loop range finder employs optimal filtering theory to improve target tracking quality and overcome the limitations of single-loop range finders. The range tracking system evaluates the tracked range, approach speed, acceleration, and target speed along the line-of-sight. Kalman filters are synthesized for the acceleration, controller, and tracked coordinate filters, ensuring accurate tracking, fast response, and high stability. Simulation results demonstrate the effectiveness of the proposed optimal multi-loop range tracker in tracking highly maneuverable targets with increased accuracy and robustness compared to conventional single-loop trackers.