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The linear frequency modulation-binary phase shift keying (LFM-BPSK) hybrid modulated signal combines the advantages of linear frequency modulation (LFM) and binary phase shift keying (BPSK). It has been extensively applied in the field of integrated radar communication. For the parameters estimation problem of LFM-BPSK signal, the traditional technologies based on the Nyquist theorem will bring a huge quantities of sample data with heavy data handling burden. This paper has presented a dual-channel cooperative sub-Nyquist sampling system for LFM-BPSK hybrid modulated signal. In the main channel, a time-interleaved sub-Nyquist sampling structure is proposed to resolve the frequency ambiguity problem caused by low sampling rate. In the other channel, a time-interleaved sub-Nyquist sampling structure based on self-mixing is proposed to estimate the phases of binary symbols and the positions of discontinuities from the low-rate samples. Simulation results have demonstrated the effectiveness and anti-noise performance of the proposed system. [ABSTRACT FROM AUTHOR]