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In this paper, a new radar waveform based on wavelet packets is proposed. This waveform shows significant advantages over conventional linear frequency modulated waveforms for range and velocity detections of moving targets. The proposed waveform can decouple its envelope and carrier for range and velocity estimations, respectively, because of which the Doppler spread term can be totally removed when estimating velocity and the Doppler effect ignored when estimating range. This way, the proposed waveform produces higher resolution in range or velocity detection. The proposed waveform can be applied to the synthetic aperture radar for improved performance.