Abstract: Hyperbolic frequency modulated (HFM) waveforms offer the detection performance that is named "Doppler invariance", which makes a minimal output loss. It has been applied in new sonar systems because of its advantages in signal detection and estimation. In the meantime the Doppler invariance leads a ranging bias in estimating the range of moving targets, which thereby affects the tracking performance. In this article, the range bias is analyzed based on the Doppler invariance of HFM waveforms. And then, a modified target tracking algorithm is proposed, which combines the range bias formula and the traditional tracking algorithm together. By doing so, the tracking performance can be improved particularly for fast moving target.