Figure 1From: A mobile ground-based radar sensor for detection and tracking of moving objectsTriangular modulation function. (a) The time delay τ is the time of flight between the radar and the target. The vertical shift is the Doppler frequency introduced by the radial velocity. (b) Frequency difference between transmitted and received signals. The sum and the difference of F b allow to estimate the distance R and the radial velocity V of the target.Back to article page