This paper intends to cope with single target tracking nonlinear filtering problem with an Adaptive Neuro-Fuzzy Inference System (ANFIS). ANFIS provides faster adaptation, adequate convergence and easy using over other standard filters. The ANFIS used in this study is trained on-line while the target is moving to estimate the next position of target at the end of the training. The proposed system calculates the speed and the acceleration rate of the object and estimates the next absolute position of the target between two position measurements interval. Estimation performance of the presented system has been tested using few predetermined position data. The test results show that the proposed ANFIS position estimator system has been successively estimated the next position of the moving target and can be used in real target tracking systems.