Abstract: Single channel frequency modulated continuous wave(FMCW) radar is attracting considerable critical attention in recent years due to its small size and low cost. However, the velocity-angle coupling problem occurs in a moving scenario, which eventually leads to obstacles for the application of beamforming. For this problem, the paper proposes a motion compensation method, and based on this method, a single channel FMCW radar signal processing flow is proposed. Numerical and experimental results are provided to validate the proposed method. It is suggested that the velocity-angle coupling problem can be effectively solved by the proposed motion compensation method, and moving targets can be effectively detected by using this single channel FMCW radar signal processing flow.