在机载 PD雷达系统中 ,建立了机动目标的运动模型和测量模型 ,着重阐述了 Kalman跟踪滤波算法 ,给出了四维 (距离、速度、方位角、俯仰角 )跟踪实验系统三重处理器结构的实现 ,绘出了跟踪误差曲线。结果表明 ,对于跟踪精度高、计算量大的 Kalm an滤波算法 ,应用 DSP技术能满足实时要求 In the airborne PD radar system, the motion model and the measurement model of the maneuvering target are established. The Kalman tracking filtering algorithm is emphatically described. The structure of the quadruple processor for the four-dimensional tracking system (distance, velocity, azimuth and elevation) Achieve, draw the tracking error curve. The results show that for the Kalman filtering algorithm with high tracking accuracy and large computation load, DSP technology can meet the real-time requirements