A method and system is proposed for use by a moving station (such as a jetfighter) for radar tracking of a moving target (such as an air-to-air missile). The proposed method and system involves the use of a hybrid FSK/LFM (Frequency Shift Keying & Linear Frequency Modulation) scheme for acquiring a collection of raw radar data, a first Gaussian-noise filter array of one-stage linear Kalman filters for S/N-enhancement of the raw radar data, a trilateration module, and a second Gaussian-noise filter array of one-stage linear Kalman filters for S/N-enhancement of the trilateration-resulted radar data. These features allow the radar tracking of moving objects to be more fast and accurate.