A pulse radar range profile motion compensation method comprising: i. acquiring receiver samples of radar echo signals generated by a target moving at a range rate, Ṙ, and illuminated during a look by a pulse radar signal having a carrier frequency, f Tx, and comprising a plurality, P, of pulses having a pulse repetition frequency, f PRF, each receiver sample having a phase and a range cell; and ii. acquiring, from a radar tracker tracking the target, an estimate of the range rate of the target, the method further comprising, for each receiver sample and the illuminating pulse in relation to which the sample is generated: iii. removing an additional phase acquired by the echo signals in dependence on the range rate estimate and the time to the pulse since the start of the look; and iv. removing a shift in range cell of the receiver sample in dependence on the range rate estimate and the time to the pulse since the start of the look, and the method further comprising, after steps iii. and iv.: v. applying a pulse Doppler filter to the receiver samples (22, 46) from step iv.; vi. identifying from the filtered samples from step v. the peak Doppler frequency corresponding to a skin return of the target, f D; vii. calculating a range rate correction Δυ as − c f D 2 f T x; viii. adding the range rate correction to the estimate of the range rate to obtain a corrected range rate estimate and repeating steps iii. and iv. using the corrected range rate estimate to obtain motion compensated receiver samples; and a. corresponding to the pulses, each receiver sample having a phase and a range cell; and ix. generating an output signal indicative of the motion compensated receiver samples for generating a range profile. i. acquiring receiver samples of radar echo signals generated by a target moving at a range rate, Ṙ, and illuminated during a look by a pulse radar signal having a carrier frequency, f Tx, and comprising a plurality, P, of pulses having a pulse repetition frequency, f PRF, each receiver sample having a phase and a range cell; and ii. acquiring, from a radar tracker tracking the target, an estimate of the range rate of the target, iii. removing an additional phase acquired by the echo signals in dependence on the range rate estimate and the time to the pulse since the start of the look; and iv. removing a shift in range cell of the receiver sample in dependence on the range rate estimate and the time to the pulse since the start of the look, v. applying a pulse Doppler filter to the receiver samples (22, 46) from step iv.; vi. identifying from the filtered samples from step v. the peak Doppler frequency corresponding to a skin return of the target, f D; vii. calculating a range rate correction Δυ as − c f D 2 f T x; viii. adding the range rate correction to the estimate of the range rate to obtain a corrected range rate estimate and repeating steps iii. and iv. using the corrected range rate estimate to obtain motion compensated receiver samples; and a. corresponding to the pulses, each receiver sample having a phase and a range cell; and ix. generating an output signal indicative of the motion compensated receiver samples for generating a range profile. a. corresponding to the pulses, each receiver sample having a phase and a range cell; and ix. generating an output signal indicative of the motion compensated receiver samples for generating a range profile.