The frequency modulation continuous wave (FMCW) Laser radar (Ladar) inevitably suffers from vibration and nonlinear modulation, which will reduce ranging accuracy and imaging resolution. We propose a vibration and nonlinearity compensation method using particle filtering (PF) for one- period triangular frequency modulation continuous wave (T-FMCW) signals. We first extend the traditional ranging model to an instantaneous ranging model by a second-order synchro-squeezing transform (SST) which can characterize the local distributions of time-varying signals. We then eliminate the nonlinearity errors from the instantaneous measurement ranges by setting an auxiliary channel. Finally, we built a particle filtering (PF) model using the instantaneous ranges to compensate for the vibration and the residual nonlinearity errors, and estimate the range of target by using the triangular relations of T -FMCW. Experimental tests prove that the proposed method can accurately estimate the range of target by simultaneously compensating for the vibration and nonlinearity errors in one-period T -FMCW.