Geolocation is a very important step in Synthetic Aperture Radar (SAR) data processing. The precision of geolocation severely affects the applications of SAR images. This paper analyzes the influences on SAR geolocation caused by the traditional “stop-go” approximation, and establishes the range-Doppler equations for the real continuously moving configuration, and also provides a simplified way to solve the equations. Simulations and geolocation experiments on real SAR data of Beijing area validate the proposed method and show the correctness of the analysis.