This paper introduces the advantage and disadvantage of traditional motion compensation way in the stepped-frequency Pulses radar, and analyzes the motion influence on the one-dimension range profile. On the premise of understanding the current speed compensation algorithm, this paper offers an improved method, which is the new two-step approach. This method reduces the operation and enhances the Real-time performance of system. The characteristic of this method is that proposes the concept of the minimum pulse group self adaptive speed researching range. Even though, we don’t have the premise of speed prior knowledge, it also has a well applying prospect and universality. Comparing to the algorithm previously advanced, it has more extensive applications and practicability.