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The principle and method of both radar target imaging and velocity measurement simultaneously based on step frequency waveforms is presented. Velocity compensation is necessary in order to obtain the good High resolution range profile since this waveform is greatly sensitive to the Doppler shift. The velocity measurement performance of the four styles is analyzed with two pulse trains consisted of positive and negative step frequency waveforms. The velocity of targets can be estimated first coarsely by using the pulse trains with positive-positive step frequency combination, and then fine by positive-negative combination. Simulation results indicate that the method can accomplish the accurate estimation of the velocity with efficient computation and good anti-noise performance and obtain the good HRRP simultaneously.