A radar system that uses range walk compensation to reduce system losses resulting from moving targets. During the coherent integration of pulse radar systems, the conventional Fast Fourier Transform (FFT) for Doppler processing needs to change the input range bin number in accordance with the velocity of the target. Doppler groups are configured to compute several Dopplers with one FFT. Each Doppler group has a transform Doppler that is close to the center of the group which will identify the change of range bins for the input data to the FFT. As the range bins are changed, there are two input filter techniques: nearest bin select, and 2-tap filter. After the range walk compensation process, the resultant output block has much higher coherent integration as compared to just a conventional FFT.