Abstract: To reduce the loss of sampling, higher sampling frequency than bandwidth of chirp must be adopted for Modulated Frequency Stepped Pulse(MFSP) radar signal, which will bring on over-sampling result of pulse compression for chirp. So the pick-up algorithm for the MFSP radar signal must be adopted to eliminate targets redundancy in order to obtain fine HRRP(High-Resolution Range Profile). However, because of inaccuracy of the velocity compensation method, the velocity error of the moving target will produce velocity-range coupling error, even bring the influence of losing target or producing spurious peaks on the HRRP. This paper proposes a targets redundancy removed algorithm based on the offset of the most powerful scatterer, which can solve the velocity-range coupling problem effectively by modifying the pick-up scopes of all sampled points. Finally, the processing results of both simulated data and real radar data validate the correctness of theoretical analysis.