Fetal cardiac monitoring using noninvasive abdominal leads can provide important information on fetal well-being. However, extraction of fetal electrocardiogram (fECG) from abdominal signals is often problematic because of the higher amplitude maternal ECG (mECG). The aim of this study was to introduce a principal component model for removing the maternal ECG from abdominal signals. The proposed method removes mECG waveforms with high accuracy even though abdominal movements cause morphological deviation to mECG complexes. The method can be used for single or multi-lead measurements. The proposed method was tested using 175 1 min long abdominal measurements with fetal QRS annotation markers acquired from a fetal scalp electrode. Using the presented mECG removing algorithm and matched filtering based fQRS detector, 95% sensitivity for fQRS detection and 4.84 ms RMS error for fetal RR-interval estimation were acquired.