Abstract: Hyperbolic-Frequency-Modulated (HFM) waveforms offer the detection performance that is named "Doppler invariance", which makes a minimal output loss-relatively unaffected by target range rate in matched fil-tering. In the meantime the Doppler invariance leads a ranging bias in estimating the range of moving targets. In this article, the range resolution and ranging bias based on the HFM ambiguity functions are analyzed based on the Doppler invariance and matched filter properties. And then an instantaneous-frequency-based ranging bias formulas is proposed, which can be utilized to calibrate the measurement equation of precise target tracking and so to improve the performance of sonar detection.