Solution was found!!!

its a good day today.
aperently ta can also be 150m sometimes :) it work the detection works almost perfectly in 2d. yay ! i found out there was a bug in android that i thought have been fixed but aperently not. so now it works wonderfly.
well we got it :
if you ask its around 30m from the target. and this is while tracking in a moving car.
also sometime the 3d estimation works better but thats in rare cases. most of the time its not the most accurate.