In this work we consider the problem of measurement matrix design for compressed 3-D Direction of Arrival (DoA) estimation using a sensor array with analog combiner. Since generic measurement matrix designs often do not yield optimal estimation performance, we propose a novel design technique based on the minimization of the Cramér-Rao Lower Bound (CRLB). We develop specific approaches for adaptive measurement design for two applications: detection of the newly appearing targets and tracking of the previously detected targets. Numerical results suggest that the developed designs allow to provide the near optimal performance in terms of the CRLB.