To decrease the tracking error and make full use of the environment information in tracking a maneu-vering target,a cognitive tracking radar method based on waveform parameter design is put forward. Firstly, both the moving state and the parameters of transmit waveform are utilized to construct the measurement model and the state model. Then,the particle swarm optimization particle filter is used to track the target. On the ba-sis,the posterior Cramér-Rao bounds (PCRB)of the tracking accuracy is deduced and the radar waveform pa-rameters are further cognitively designed using PCRB. Simulation results show that the proposed method can ac-complish the tracking better compared with traditional method.%针对传统雷达对机动目标进行跟踪时，跟踪误差大、不能充分利用环境信息等问题，提出了基于波形参数设计的认知雷达跟踪方法。该方法首先将目标的运动状态和发射波形参数相联合来构建目标的量测和状态方程，然后引入粒子群优化粒子滤波方法对目标状态进行实时估计，在此基础上推导了系统跟踪精度的后验克拉美罗界(PCRB)，并以后验克拉美罗准则来认知设计雷达发射波形参数。仿真结果表明，与传统方法相比，所提方法能够更好地完成对运动目标的跟踪。
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