Aimed at solving the distance and velocity decoupling problems of a moving tarot in LFMCW radar signal processing,a multiple repetition frequency waveform is adopted and a Doppler frequency cluster algorithm is proposed, which is capable of recovering true velocity from the coupled velocity estimation directly. For the resolution of multiple targets, a match algorithm based on mean square error is also proposed. The combination of the above two methods realizes distance and velocity decoupling of multiple moving targets. The result of simulation verifies the effectiveness of the methods, the velocity estimation performance of DFS algorithm is improved by 2.5 dB compared with Chinese remainder theorem.