Put this at the top of all controls, just after form tag starts:
<asp:ScriptManager ID="ScriptManager1" runat="server">
And also, put your CalendarExtender inside UpdatePanel.
About tag prefix: There is no issue in it. It's just an alias defined at the top of the page itself. Here:
<%@ Register assembly="AjaxControlToolkit" namespace="AjaxControlToolkit" tagprefix="asp" %>
Whatever alias you define here, it works accordingly.