Continuous fetal heart beat monitoring has assisted clinicians in assuring fetal well-being during antepartum and intrapartum. Fetal heart rate (FHR) is an important parameter of fetal health during pregnancy. The Doppler ultrasound is one of very useful methods that can non-invasively measure FHR. Although it has been commonly used in clinic, inaccurate heart rate reading has not been completely resolved.. The objective of this study is to improve detection algorithm of FHR from Doppler ultrasound signal with simple method. We modified autocorrelation function to enhance signal periodicity and adopted adaptive window size and shifted for data segment to be analysed. The proposed method was applied to real measured data, and it was verified that beat-to-beat FHR estimation result was comparable with the reference fetal ECG data. This simple and effective method is expected to be implemented in the embedded system.