In airborne/stationary bistatic-synthetic-aperture-radar imaging, translational invariance was no longer valid. After range cell migration correction, the range-compressed signal under the same range gate exhibited azimuth-dependent FM rates that made the motion-induced phase error difficult to separate from the echoes. To solve this problem, an azimuth-dependent phase gradient autofocus (PGA) algorithm was proposed. Different from the conventional PGA, the residual quadratic phase arising from the azimuth-dependent FM rates was additionally estimated and compensated. As the influence of the azimuth-dependent FM rates was greatly reduced, a phase gradient estimator was subsequently applied for accurate phase error retrieval. Acquired raw data were analyzed to verify the proposed algorithm.