Abstract: The present application relates to a method for estimating an ambiguous velocity of a target. The method includes: alternately transmitting a first waveform signal and a second waveform signal at a first center frequency and a second center frequency respectively; processing intermediate frequency signals of the first waveform signal and the second waveform signal to generate a first Range-Doppler matrix and a second Range-Doppler matrix respectively; acquiring the quantity of phase convolutions based on a phase difference between the first Range-Doppler matrix and the second Range-Doppler matrix and a beat frequency of the second waveform signal; and estimating a target velocity and a target range through the quantity of phase convolutions. The method has the following beneficial effects: an aliased region and velocity estimation are further improved by using information from a Doppler frequency shift difference, so that the estimation of the ambiguous velocity is more reliable.