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Embodiments of the present invention generally relate to motion compensation, and in particular to an autofocus-based compensation (ABC) systems and methods for a ground moving target indication platform. According to one embodiment, a method for autofocus based compensation of range data acquired from an object in motion is provided. The method may include: receiving range data; steering at least one receive beam of the range data in a desired direction; transforming the range data into the range domain; determining the width of a main clutter lobe; excluding data that is not part of the main lobe clutter response; transforming the main-lobe clutter response into the range domain; calculating a phase correction term; and applying the phase correction to the original range data.