As a passive, harmless, and low-cost diagnosis tool, fetal heart rate (FHR) monitoring based on fetal phonocardiography (fPCG) signal is alternative to ultrasonographic cardiotocography. Previous fPCG-based methods commonly relied on the time difference of detected heart sound bursts. However, the performance is unavoidable to degrade due to missed heart sounds in very low signal-to-noise ratio environments. This paper proposes a FHR monitoring method using repetition frequency of heart sounds. The proposed method can track time-varying heart rate without both heart sound burst identification and denoising. The average accuracy rate comparison to benchmark is 88.3% as the SNR ranges from −4.4 dB to −26.7 dB.