Abstract: Generally, range and velocity ambiguity existin pulse Doppler (PD) radars Multiple pulse recurrence frequency (PRF) is needed for resolving ambiguity in the conventional PD radars. This paper provides a technique to resolve the ambiguities with high performance, which is a computationally efficient algorithm and easy to process in a real-time mode. It is able to achieve range and velocity estimates with high precision besides resolving ambiguity by the use of the presented technique. An example and corresponding experimental results show the correctness and validity of the introduced approach. This technique can be also used in sub-Nyquist sampling and interferometer-like with multiple baselines, or others homologous systems to increase their scopes of unambiguous measurements and resolve ambiguities.