SAR imaging method that includes applying PRF decimation to range-compressed IQ data to generate PRF-decimated range-compressed IQ data for each image block of an image and applying motion compensation to the PRF-decimated range-compressed IQ data to generate motion-compensated data for each image block. The method includes computing first stage image values at image grid point intersections of iso-range lines and vertical grid lines for each image bock based on the motion-compensated data for each image block. The method also includes computing second stage image values for the image grid point intersections by interpolation using the first stage image values at the image grid point intersections and correcting image phase of the second stage image values for the image grid point intersections to generate phase-corrected image values for each image block. The method includes generating a full-resolution SAR image by summing the phase-corrected image values for each image block.