Figure 4

The beat frequency trajectories of the two targets in scenario I. The trajectories are obtained from four chirps of radar sensor 1. The dots indicate the beat frequency measurements from clutter for parameter λ _f  = 1. Legend: red line with circle markers: target 1, chirp 1 (up); red line with + markers: target 1, chirp 2 (down); red line with square markers: target 1, chirp 3 (up); red line with x markers: target 1, chirp 4 (down); blue line with circle markers: target 2, chirp 1 (up); blue line with + markers: target 2, chirp 2 (down); blue line with square markers: target 2, chirp 3 (up); blue line with x markers: target 2, chirp 4 (down); black dots: clutter.