With appropriate geometry configuration, helicopterborne rotating synthetic aperture radar(ROSAR) can break through the limitations of monostatic synthetic aperture radar(SAR) on forward-looking imaging. With this capability, ROSAR has extensive potential applications, such as self-navigation and self-landing. Moreover, it has many advantages if combined with the frequency modulated continuous wave(FMCW) technology.A novel geometric configuration and an imaging algorithm for helicopter-borne FMCW-ROSAR are proposed. Firstly, by performing the equivalent phase center principle, the separated transmitting and receiving antenna system is equalized to the case of system configuration with antenna for both transmitting and receiving signals. Based on this, the accurate two-dimensional spectrum is obtained and the Doppler frequency shift effect induced by the continuous motion of the platform during the long pulse duration is compensated. Next, the impacts of the velocity approximation error on the imaging algorithm are analyzed in detail, and the system parameters selection and resolution analysis are presented. The well-focused SAR image is then obtained by using the improved Omega-K algorithm incorporating the accurate compensation method for the velocity approximation error. Finally,correctness of the analysis and effectiveness of the proposed algorithm are demonstrated through simulation results. With appropriate geometry configuration, helicopterborne rotating synthetic aperture radar (ROSAR) can break through the limitations of monostatic synthetic aperture radar (SAR) on forward-looking imaging. With this capability, ROSAR has extensive potential applications, such as self-navigation and self- A novel geometric configuration and an imaging algorithm for helicopter-borne FMCW-ROSAR are proposed. Firstly, by performing the equivalent phase center principle, the separated transmission and receiving antenna system is equalized to the case of system configuration with antenna for both transmitting and receiving signals. Based on this, the accurate two-dimensional spectrum is obtained and the Doppler frequency shift effect induced by the continuous motion of the platform during the long pulse duration is compensated. Next, the impacts of velocity approximation error on the imaging algorithm were analyzed in detail, and the system parameters selection and resolution analysis are presented. The well-focused SAR image is then obtained using the improved Omega-K algorithm incorporating the accurate compensation method for the velocity approximation error. Finally, correctness of the analysis and effectiveness of the proposed algorithm are demonstrated through simulation results.