Abstract: Traditional HRRP (High Resolution Range Profile) reconstruction methods for SFR (Stepped-Frequency Radar) are sensitive to residual errors of motion compensation. However in this paper, several robust properties maintained by SFR echo after inter-pulse IFFT, which are insensitive to motion compensation errors, are proved firstly. Then base on these properties, a new HRRP reconstruction method is proposed, which not only eliminates the negative effect of Doppler cyclic shift of sub-HRRP on HRRP reconstruction, but also improves the accuracy of reconstruction effectively by pulse-envelop-weighting estimation. Analysis results using both simulated and field-measured data have verified the advantages of the proposed method.