Conventional ground moving target imaging algorithms mainly focus on the range cell migration correction and the motion parameter estimation of the moving target. However, in real Synthetic Aperture Radar (SAR) data processing, non-ideal motion error compensation is also a critical process, which focuses and has serious impacts on the imaging quality of moving targets. Non-ideal motion error can not be compensated by either the stationary SAR motion error compensation algorithms or the autofocus techniques. In this paper, two sorts of non-ideal motion errors that affect the Doppler centroid of the moving target is analyzed, and a novel non-ideal motion error compensation algorithm is proposed based on the Inertial Navigation System (INS) data and the range walk trajectory. Simulated and real data processing results are provided to demonstrate the effectiveness of the proposed algorithm.