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In this letter, a novel radial velocity estimation and range shift compensation algorithm is proposed for high-range resolution profiling of moving targets in stepped-frequency (SF) radar. Compared to traditional methods, this algorithm is based on a more precise signal model, and can therefore achieve much higher estimation accuracy. Furthermore, the range shift problem caused by target motion can be resolved without alterations to the radar waveform. The performance of this algorithm is demonstrated using simulated and experimental results.