When the relative velocity between radar and targets is really high, the scale modulation effect of radar echoes is not negligible. The pulse compression of received Linear Frequency Modulated (LFM) echoes is degraded significantly, which causes defocused image of radar systems. Hyperbolic Frequency Modulated(HFM) waveform is of the characteristic of Doppler invariance, and it has a high application value in the imaging of high speed targets. First, the received echoes of high speed moving targets are modeled and the imaging results are compared between LFM and HFM by instantaneous frequency analysis. Then, the system implementation, imaging characteristics and application superiority of HFM echoes from high speed targets are analyzed in detail, and compared with that of LFM method. Finally, numerical results validate the effectiveness of the proposed method.