Common target tracking systems usually present such problems as big volume and low tracking speed, based on which, a two-dimensional moving target tracking system using 32-bit ARM processor of STM32F103ZET6 as the main control chip is designed. The system is mainly composed of double ultrasonic motor driving circuit based on STM32 and 2D tracking pan-tilt with IP camera. When the target is identified by image processing system, the 2D tracking pan-tilt is drived to track the target. Experimental results show that the system can response in less than 3 ms with a high accuracy, and the pan-tilt can rotate in 0°~360° in horizontal direction and 0°~180° in vertical direction.