This paper presents the design of a handheld pseudo random coded Ultra-WideBand (UWB) radar for human sensing. The main tasks of the radar are to track the moving human object and extract the human respiratory frequency. In order to achieve perfect penetrability and good range resolution, m sequence with a carrier of 800 MHz is chosen as the transmitting signal. The modulated m-sequence can be generated directly by the high-speed DAC and FPGA to reduce the size of the radar system, and the mean power of the transmitting signal is 5 dBm. The receiver has two receiving channels based on hybrid sampling, the first receiving channel is to sample the reference signal and the second receiving channel is to obtain the radar echo. The real-time pulse compression is computed in parallel with a group of on-chip DSP48E slices in FPGA to improve the scanning rate of the radar system. Additionally, the algorithms of moving target tracking and life detection are implemented using Intel’s micro-processor, and the detection results are sent to the micro displayer fixed on the helmet. The experimental results show that the moving target located at less than 16 m far away from the wall can be tracked, and the respiratory frequency of the static human at less than 14 m far away from the wall can be extracted.