A long distance high resolution frequency-modulated continuous wave (FMCW) laser rangefinder with phase noise compensation and two-dimensional (2D) data processing skills is developed. Range-finding ladar consists of a continuously chirped laser source, an auxiliary reference interferometer, and a monostatic optical transceiver for target illumination and return photon collection. To extend the range unambiguity and lower the electronic processing bandwidth, a two-step laser frequency chirping scheme is adopted, where a long pulse width, small frequency bandwidth laser chirping signal are used in step 1 for coarse distance estimation, and a short pulse width and large frequency bandwidth laser chirping signal are applied afterwards for step 2 high resolution distance realization. An auxiliary reference interferometer is to record the phase noise originated from the laser source to compensate for phase errors induced in the target return photons. The 2D data processing skill helps to coherently sum up all the phase noise removed echo photons to achieve high resolution range peak extraction with high detection sensitivity. Experimental demonstration shows that the proposed FMCW ladar at 1550 nm wavelength with a laser chirping bandwidth of 10 GHz and electronic processing bandwidth of 200 MHz can measure a corner cube test target in an outdoor atmospheric environment, and the measurement results are 12013.905 m with a 2.4 cm range resolution under strong return photon levels and 12013.920 m with a 2.5 cm range resolution under weak return photon levels.