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Airborne synthetic aperture radar (SAR) is susceptible to atmospheric disturbance and other factors that cause the position offset error of the antenna phase center and motion error. In close-range detection scenarios, the large elevation angle may make it impossible to directly observe areas near the underlying plane, resulting in observation blind spots. In cases where the illumination elevation angle is extremely large, the influence of range variant envelope error and phase modulations becomes more serious, and traditional two-step motion compensation (MOCO) methods may fail to provide accurate imaging. In addition, conventional phase gradient autofocus (PGA) algorithms suffer from reduced performance in scenes with few strong scattering points. To address these practical challenges, we propose an improved phase-weighted estimation PGA algorithm that analyzes the motion error of UAV SAR under a large elevation angle, providing a solution for high-order range variant motion error. Based on this algorithm, we introduce a combined focusing method that applies a threshold value for selection and optimization. Unlike traditional MOCO methods, our proposed method can more accurately compensate for spatially variant motion error in the case of scenes with few strong scattering points, indicating its wider applicability. The effectiveness of our proposed approach is verified by simulation and real data experimental results. [ABSTRACT FROM AUTHOR]