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The real-time tracking of moving objects has extensive applications in various domains. Existing tracking methods typically utilize video image processing, but their performance is limited due to the high information throughput and computational requirements associated with processing continuous images. Additionally, imaging in certain spectral bands can be costly. This paper proposes a non-imaging real-time three-dimensional tracking technique for distant moving targets using single-pixel LiDAR. This novel approach involves compressing scene information from three-dimensional to one-dimensional space using spatial encoding modulation and then obtaining this information through single-pixel detection. A LiDAR system is constructed based on this method, where the peak position of the detected full-path one-dimensional echo signal is used to obtain the target distance, while the peak intensity is used to obtain the azimuth and pitch information of the moving target. The entire process requires minimal data collection and a low computational load, making it feasible for the real-time three-dimensional tracking of single or multiple moving targets. Outdoor experiments confirmed the efficacy of the proposed technology, achieving a distance accuracy of 0.45 m and an azimuth and pitch angle accuracy of approximately 0.03° in localizing and tracking a flying target at a distance of 3 km. [ABSTRACT FROM AUTHOR]