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The “stop-go” approximation is widely used for the processing of synthetic aperture radar (SAR) data, and the error brought by this assumption can be negligible for most SAR systems. However, for the SAR on a high-speed platform, with the increasing requirements on high-resolution imaging, the error may be intolerable for SAR imaging. In this case, the radar motion within a pulse repetition interval should be taken into account for the echo model and imaging algorithm. In this paper, according to the geometric configuration of the SAR working process, an accurate echo model is presented. By comparing the “stop-go” echo (which denotes the echo based on the “stop-go” approximation in this paper) with the accurate echo, the error brought by the “stop-go” approximation is introduced, and the intolerable error is shown in a reference system. A spotlight imaging algorithm based on the accurate echo is given and is well supported by the simulation results.