DETECTION AND TRACKING OF MULTIPLE
TARGETS USING DUAL-FREQUENCY
INTERFEROMETRIC RADAR
Saima Ishtiaq*, Xiangrong Wang, Shahid Hassan
School of Electronic and Information Engineering, Beihang University, Beijing, China
*saimaishtiaq84@gmail.com
Keywords: DUAL-FREQUENCY, INTERFEROMETRIC RADAR,
INTERMODULATION, MULTIPLE-TARGET TRACKING, GLOBAL NEAREST
NEIGHBOR
Abstract
Multiple-target tracking (MTT) usually requires either a
network of distributed radars at different locations or single
radar installed with expensive phased arrays. The moving
targets with small radial velocity cannot be localized/tracked in
2-D space using single Doppler radar without an antenna array.
To overcome this problem, we propose a new MTT method
using dual-frequency interferometric radar. Targets’ detection
is performed based on the range-Doppler map, while tracking
is accomplished by extracting radial and angular velocities
from time-varying Doppler and interferometric spectrogram,
respectively. However, the presence of multiple moving targets
in radar field-of-view (FoV) generates nuisance
intermodulation terms in the interferometric response. The
dual-frequency interferometric radar is capable of resolving
this issue by transmitting high frequency waveforms for radial
velocity extraction and low frequency waveforms to extract
angular velocity while suppressing intermodulation terms. The
correct association between 2-D velocities of each target is
performed by determining initial direction of arrival (DOA).
The Global Nearest Neighbor (GNN) method for measurement-
to-track association is followed by modified gain extended
Kalman filter (MGEKF) to estimate the state of each target
separately. The proposed algorithm is simple to implement in
practice and removes the need of radar network and complex
array processing techniques. Extensive simulation results have
been presented to evaluate the performance of the proposed
algorithm in terms of root mean square error (RMSE) in state
and trajectory estimation.
1 Introduction
The problem of detection and tracking of multiple targets
attracts increased concern in fields of surveillance [1], medical
services [2]-[3], robotics [4]-[5], image processing [6]-[7],
adaptive cruise control (ACC) [8] and aircraft tracking [9] to
list a few. The primary objective of MTT algorithms is to detect
the potential targets in the sensor (radar, sonar, microphone or
infrared sensor) FoV and estimate the state (position and
velocity) and trajectory of each target from the noisy radar
measurements. Numerous different approaches to solve the
problem of MTT have been presented in [10]-[13]. MTT
usually requires either a network of distributed radars at
1
different locations or single radar installed with expensive
phased arrays. Doppler radars are capable of measuring the
range and Doppler frequency shift of the target in radar FoV,
which is a direct measurement of the target’s radial velocity
[14]-[15]. Doppler radars without an antenna array cannot
localize/track the targets moving with no or small radial
velocity in 2-D space [16]. To solve this problem, a network of
distributed radars is usually required to observe the target at
different points in space. An algorithm for MTT using range-
Doppler measurements from multiple radars is presented in
[17]. However, this algorithm requires a very large number of
iterations and difficult to realize in practical scenarios. MTT
algorithms proposed in [18]-[19] also require multi-lateration
of data from a distributed radar network with four sensors.
Doppler radar networks require high data throughput due to
integrated hardware structures. Moreover, radars with small-
scaled antenna arrays provide poor azimuth resolution and
expensive large phased arrays are required for MTT. Further,
most of array signal processing techniques (using MUSIC and
ESPRIT algorithms) have high computational complexity [20].
To resolve the problem of MTT, in this paper we propose a new
algorithm for detection and tracking of multiple targets using
dual-frequency modulated continuous wave (DF-FMCW)
interferometric radar. Based on previous work [21], target
detection is performed using range-Doppler map, while
tracking is accomplished by extracting radial and angular
velocities from time-varying Doppler and interferometric
spectrogram, respectively. However, in the presence of
multiple targets in radar FoV, nuisance intermodulation terms
are generated in the interferometric response. The dual-
frequency interferometric radar is capable of resolving this
issue by transmitting high frequency waveforms for radial
velocity extraction and low frequency waveforms to extract
angular velocity while suppressing intermodulation terms. In
order to perform correct association between obtained
information and multiple targets, initial DOA of targets are
extracted from range-Doppler map in interferometric mode. On
the basis of initial DOAs and their respective radial velocities,
radial and angular velocities of multiple targets are paired for
further processing. The ellipsoid gating followed by GNN
method is, then, utilized for measurement-to-track association.
MGEKF is finally applied to predict and estimate the state of
each target separately in 2-D space.
 principle, the transmitted and received signals are mixed to
generate beat frequency signal. The beat frequency signal is
represented by,

𝑆 (𝑡) = 𝑆 (𝑡)𝑆 ∗ (𝑡) (4)

𝐵(𝑅 + 𝑣 𝑛𝑇)𝑡 𝑅 𝑣
= 𝑒𝑥𝑝 −𝑗4𝜋 + + 𝑛𝑇
𝑐𝑇 𝜆 𝜆
𝐵(𝑅 + 𝑣 𝑛𝑇)
−
𝑐 𝑇
Fig.1. Schematic diagram of the proposed MTT algorithm 𝐾(𝑅 + 𝑣 𝑛𝑇)𝑡 𝑅 𝑣
≈ 𝑒𝑥𝑝 −𝑗4𝜋 + + 𝑛𝑇
The proposed MTT algorithm is simple to implement and 𝑐 𝜆 𝜆
removes the need of radar network and complex array
processing techniques as this method requires only range- where 𝜆 = 𝑐/𝑓 is the wavelength. The approximation in Eq.
Doppler processing and time-frequency analysis of the received (4) is based on the fact that the term 𝐵(𝑅 + 𝑣 𝑛𝑇) /𝑐 𝑇 is
data. To the author’s best knowledge, this is the first work that negligibly small.
makes use of 2-D (radial and angular) velocities measurements
from dual-frequency interferometric radar to solve the MTT The moving target is detected by performing 2-D FFT on the
problem. Extensive simulation results for different trajectories beat frequency signal which gives range-Doppler velocity map
have been presented to evaluate the performance of the of the target. The range of the target can be measured by taking
algorithm in terms of RMSE in trajectory estimation. fast-time FFT of the beat frequency signal, while the Doppler
shift caused by the radial velocity can be measured by
The scheme of this paper is as follows. Section II presents the performing slow-time FFT. The relationship between the
mathematical model for detection of multiple targets. Section Doppler frequency and radial velocity is expressed as,
III describes angular velocity measurement. Data association
and state estimation has been presented in Section IV. Section 𝑣 = 𝜆= (5)
V introduces the proposed MTT algorithm. Section VI presents
simulation results to demonstrate the effectiveness of the
proposed method. Finally, Section VII provides concluding
remarks.
2 Detection
A moving target is detected based on its range-Doppler map
using FMCW radar. Consider FMCW radar that transmits
linearly increasing frequency modulated signal with carrier
frequency 𝑓 , bandwidth 𝐵 and sweep duration 𝑇, as shown in
Fig.2. The transmitted signal can be expressed as,

𝑆 (𝑡) = 𝑒𝑥𝑝 −𝑗2𝜋 𝑓 𝑡 + 𝑡 (1)

where 𝑡 = 𝑡 − 𝑛𝑇 is the time from the start of nth sweep

period. A chirp reflected off of the target will be same as the
transmitted one, but delayed by a round trip time 𝜏. The signal Fig.2.The time-varying transmitted and received signal (upper plot),
received by the radar can be written as, the demodulated beat frequency signal (lower plot)

By re-arranging, Eq. (5) can be written as,

𝑆 (𝑡) = 𝑒𝑥𝑝 −𝑗2𝜋 𝑓 (𝑡 − 𝜏) + (𝑡 − 𝜏) (2)
𝑓 = = (6)
where τ = 2R ⁄ c. 𝑅 is the range of the target during nth sweep
period and 𝑐 represents the speed of light. The speed of the In case of 𝑀 number of targets in the radar FoV, the echoes
target is assumed to be slow enough that it remains in the same from all the targets superimpose to generate the radar’s
range gate during each sweep period. For a target initially received signal. That is,
located at 𝑅 moving with relative radial velocity 𝑣 , the
distance between the target and the radar is represented as,
𝑆 (𝑡) = ∑ 𝑒𝑥𝑝 −𝑗2𝜋 𝑓 (𝑡 − 𝜏 ) + (𝑡 − 𝜏 ) (7)
𝑅(𝑡) ≈ 𝑅(𝑛𝑇) = 𝑅 + 𝑣 𝑛𝑇 (3)
The beat frequency signal in this scenario can be expressed as,
The relative radial motion of the target causes a Doppler shift ( )
in the radar’s received signal. According to FMCW radar’s 𝑆 (𝑡) = ∑ 𝑒𝑥𝑝 −𝑗4𝜋 + + (8)

2
where 𝜏 = 2𝑅 ⁄𝑐 for 𝑚 = 1, 2, … , 𝑀. Once the targets are 𝑦 = 𝑆 (𝑡)𝑆 ∗ (𝑡) (13)
detected, the time-varying Doppler spectrogram for multiple
targets is obtained by performing short-time Fourier transform 𝐵𝑡 𝐷𝑠𝑖𝑛𝜑
(STFT) to the beat frequency signal. In this case, Eq. (5) can be = 𝑒𝑥𝑝 𝑗2𝜋 𝑓 +
𝑇 𝑐
rewritten as,
The interferometric frequency shift caused by the target’s
𝑣 = 𝜆= , 𝑚 = 1,2,3, … . 𝑀 (9) angular velocity is time derivative of phase term in Eq. (13),
which is represented by,
3 Angular Velocity Measurement
𝑓 =𝑓 = 𝜔≈ 𝜔 (14)
An interferometric radar is used to measure the angular velocity
of a moving target. It consists of two nominally identical
receiving antennas separated by geometrical distance 𝐷, as
shown in Fig. 3. The target is assumed to be monochromatic
point source in far field with respect to the radar. Consider the
signal received by first antenna 𝑆 (𝑡) in Eq. (2) as reference.
The signal received by the second antenna 𝑆 (𝑡), which is
delayed by time 𝜏 due to the geometrical separation D, is
expressed as,

𝑆 (𝑡) = 𝑒𝑥𝑝 −𝑗2𝜋 𝑓 (𝑡 − 𝜏 − 𝜏 ) + (𝑡 − 𝜏 − 𝜏 ) (10)

where time delay 𝜏 is determined by [22], Fig.3. The geometry of correlation interferometer

𝜏 = (11) where 𝜆 = 𝑐/(𝑓 + 𝐵𝑡 /𝑇) is wavelength corresponding to

frequency at time 𝑡 + 𝑛𝑇. The angular velocity can be written
where 𝜑 represents the DOA of the target relative to the as,
receiving antenna array broadside. The second beat frequency
signal is represented by, 𝜔= (15)

𝑆 (𝑡) = 𝑆 (𝑡)𝑆 ∗ (𝑡) (12) In case of 𝑀 number of targets in the radar FoV, 𝑆 (𝑡) can be
( )
written as,
≈ 𝑒𝑥𝑝 −𝑗2𝜋 + + 𝑛𝑇 +
( )
𝑓 + 𝑡 𝑆 (𝑡) ≈ ∑ 𝑒𝑥𝑝 −𝑗2𝜋 + +
+ 𝑓 + 𝑡 (16)
According to interferometric radar principle, the two beat
frequency signals 𝑆 (𝑡) and 𝑆 (𝑡) are correlated to generate The interferometric output, in this case, from Eq. (8) and Eq.
the response, (16) can be written as,

𝑦 = 𝑆 (𝑡)𝑆 ∗ (𝑡) (17)

𝐵(𝑅 +𝑣 𝑛𝑇)𝑡 𝑣 𝑛𝑇 𝑅 2𝐵(𝑅 + 𝑣 𝑛𝑇)𝑡 2𝑣 𝑛𝑇 2𝑅 𝐵 𝐷𝑠𝑖𝑛𝜑

= 𝑒𝑥𝑝 −𝑗4𝜋 + + 𝑒𝑥𝑝 𝑗2𝜋 + + + 𝑓 + 𝑡
𝑐𝑇 𝜆 𝜆 𝑐𝑇 𝜆 𝜆 𝑇 𝑐
,

𝐵 𝐷𝑠𝑖𝑛𝜑
= 𝑒𝑥𝑝 𝑗2𝜋 𝑓 + 𝑡
𝑇 𝑐
(𝑅 +𝑣 𝑛𝑇) − (𝑅 + 𝑣 𝑛𝑇) (𝑣 𝑛𝑇 − 𝑣 𝑛𝑇) (𝑅 −𝑅 )
+ 𝑒𝑥𝑝 −𝑗4𝜋 𝐵𝑡 + +
𝑐𝑇 𝜆 𝜆
,
𝐵𝑡 𝐷𝑠𝑖𝑛𝜑
− 𝑓 +
𝑇 2𝑐

3
The interferometric output in Eq. (17) consists of two parts.
First part is caused by the angular velocities, while second part
consists of the nuisance intermodulation terms generated by
correlation among different targets. These intermodulation
terms need to be suppressed to correctly measure the angular
velocity of each target separately. In this case, Eq. (15) can be
rewritten as,
𝜔 = (18)
state at time instant 𝑘 is expressed as 𝐗 = [𝑥 , 𝑦 , 𝑣 , 𝑣 ] . The
process model at instant 𝑘 follows Eq. (21).
𝐗 = 𝐅𝐗 + 𝐰 (21)
where 𝐅 is the state transition matrix depending on near
constant velocity (nCV) or near constant turn (nCT) model. 𝐰
is the zero-mean Gaussian process noise with covariance Q,
i.e., 𝐰 ∼ 𝓝(0, 𝐐).

1 0 0t
The time-varying interferometric spectrogram can be obtained 0 1 0 t 
by performing STFT of the interferometric output. F CV   (22)
0 0 1 0
4 Data Association and State Estimation  
0 0 0 1
4.1 Data Association
 sin t  cos(1  cos t ) 
Measurement-to-track association procedure conventionally 1 0
  
follows three steps. First, an ellipsoid gate about the predicted  
measurement of a target track is formed to eliminate unlikely cos(1  cos t ) sin t
F CT  0 1  (23)
measurement-to-track pairs in the presence of multiple targets    
and clutter. It measures Mahalanobis distance 𝑑 between a 0 0 cos t  sin t 
measurement and track. A measurement is said to satisfy the 0 0 sin t cos t 
ellipsoid gate if it satisfies the relationship,  
Here, Ω represents turn rate. The state of the target at instant 𝑘
𝑑 =𝐯 𝐒 𝐯 ≤𝐺 (19) is predicted by state at instant 𝑘 − 1 as,
where 𝐯 = 𝐙 − 𝐡 𝐗 | represents residual vector at time 𝐗 | = 𝐅𝐗 (24)
instant 𝑘 for target state defined by 𝐗 . 𝐙 represents
measurement vector and 𝐡 𝐗 | is the measurement The predicted error covariance matrix is given by,
function for predicted state at instant 𝑘. 𝐒𝐤 is the residual 𝐏 = 𝐅𝐏 𝐅 + 𝐐 (25)
|
covariance matrix. 𝐺 representing gate size depends on the
probability 𝑃 of a measurement falling into that gate. 𝑃 is 𝐏 is the estimated covariance matrix at instant 𝑘 − 1. The
determined from Chi-square distribution with degree of measurement model is represented as,
freedom equal to dimension of measurement vector. Second, an
assignment matrix is formed to resolve data association conflict 𝐙 =𝐡 𝐗 | +v (26)
in scenarios when there is more than one measurement in a
track’s gate or a measurement falls within the gate of more than 𝐯 is the zero-mean Gaussian measurement noise with
one track. GNN method addresses this problem as 2-D optimal covariance R, i.e., 𝐰 ∼ 𝓝(0, 𝐑). 𝐡 is the measurement
assignment problem with the rows of assignment matrix function defined as,
representing current measurements and columns representing
the targets’ tracks. The elements of assignment matrix are
𝐡(𝐗) = = (27)
defined in terms of Mahalanobis distance 𝑑 , calculated for ( ⁄ )

measurement 𝑖 and track 𝑗. Third step is to find the optimal

The filter gain 𝐊 is given by,
solution to assignment matrix. The goal of GNN method with
Munkres algorithm is to find the set of measurement-to-track
assignment that minimizes the sum of 𝑑 . 𝐊 =𝐏 | 𝐇 𝐇𝐤 𝐏 | 𝐇 +𝐑 (28)

where 𝐒 = 𝐇𝐤 𝐏 | 𝐇 + 𝐑 is the residual covariance matrix

4.2 Modified Gain Extended Kalman Filter for State
Estimation and 𝐇𝐤 is the Jacobian matrix of 𝐡 𝐗 | .
MGEKF is a nonlinear filter used to estimate the state of a
target from noisy radar measurements. The state of the target at 𝐡
𝐇 = |𝐗 = (29)
time instant 𝑘 is represented by, 𝐗 |

𝐗 = [𝑥, 𝑦, 𝑣 , 𝑣 ] (20)
The updated state 𝐗 is given by,
where 𝑥, 𝑦 and 𝑣 , 𝑣 represent the target’s position and
velocity in 𝑥 and 𝑦 direction, respectively. The estimate of the 𝐗 =𝐗 | +𝐊 𝐙 −𝐡 𝐗 | (30)

4
The estimated covariance 𝐏 is determined by,
𝐏 = 𝐈 − 𝐊 𝐠 𝐙 ,𝐗 | 𝐏 | 𝐈 − 𝐊 𝐠 𝐙 ,𝐗 | +
𝐊 𝐑𝐊
𝐠 𝐙 ,𝐗 represents modified gain function such that,
|
𝐡 (𝐗) − 𝐡 𝐗 = 𝐠 𝐙 ,𝐗 𝐗−𝐗
| | |
The modified gain function is determined by,
( ) ( )
𝐠=
𝑥 ,𝑦 and 𝜑 represent true values. Since true range and DOA
measurements cannot be found in real scenarios, these are
replaced with measured values.
Fig.4. Block diagram 2-D velocities and initial DOA
measurement
5 The Proposed Detection and Tracking
Algorithm
The proposed MTT algorithm is capable of measuring the
radial and angular velocities of multiple targets in the radar FoV
to correctly estimate and predict their states regardless of the
trajectory.
The DF-FMCW interferometric radar generates waveforms
with two different carrier frequencies such that 𝑓 = 6𝐺𝐻𝑧
and 𝑓 = 24𝐺𝐻𝑧. It consists of two transmitting antennas
(corresponding to 𝑓 and 𝑓 ) and three receiving antennas (one
corresponding to 𝑓 for radial velocity measurement and two
corresponding to 𝑓 for angular velocity measurement). The
two interferometric antennas for reception are set apart at a
geometrical distance of 𝐷 = 60𝜆 = 3𝑚. According to Eq.
(6), the Doppler frequency shift induced by radial velocity is
directly proportional to the carrier frequency. Therefore, high
frequency waveform is used to extract radial velocity
information. According to Eq. (14), the interferometric
frequency shift induced by angular velocity is also proportional
to carrier frequency, however, it is proportional to baseline 𝐷
as well. Doppler frequency terms are directly proportional to
carrier frequency, but independent of baseline. Therefore, low
frequency waveforms are used to suppress the intermodulation
terms, while interferometric frequency resolution is improved
by increasing baseline length 𝐷 simultaneously. The proposed
algorithm is explained as follows;
 In detection mode, the antennas corresponding to high
(31) frequency 𝑓 are connected to processor to detect the
potential targets in the radar FoV. Detection is performed
based on range-Doppler map obtained by applying 2D-
FFT to the beat frequency signal.
(32)  Next, STFT is applied to the beat frequency signal to
obtain time-varying Doppler spectrogram.
 After the instantaneous frequency extraction, radial
velocities are calculated according to Eq. (9).
 For angular velocity measurement, first the two
(33) interferometric antennas corresponding to 𝑓 are
connected. Then, STFT is applied to the interferometric
output to obtain time-varying interferometric spectrogram.
 After the instantaneous frequency extraction, angular
velocities are calculated according to Eq. (18).
 In order to perform correct association among radial and
angular velocities of different targets, 2D-FFT is applied to
two beat frequency signals in interferometric mode. Initial
DOA of targets using range-Doppler map information can
be calculated from following geometrical relationship.
𝑅 − 𝑅 = 𝐷𝑠𝑖𝑛𝜑 (34)
where R1 and R2 represent range of the target relative to
antenna 1 and antenna 2, respectively.
 Taking time derivative of Eq. (34), the relation between
radial and angular velocity can be expressed as,
𝑣 −𝑣 = 𝐷𝜔𝑐𝑜𝑠𝜑 (35)
Based on Eq. (35), radial and angular velocities of different
targets are paired for further processing.
 Ellipsoid gating with GNN algorithm is utilized for
measurement-to-track association. MGEKF is finally
applied to range and DOA measurements obtained from 2D
velocities (𝑣 = 𝑅 ′ and 𝜔 = 𝜑 ′ ) to estimate the state of each
target for tracking.
6 Simulation Results
Simulation results for two-point sources as targets have been
presented here to demonstrate the performance of the proposed
tracking algorithm. The bandwidth and the sweep time for radar
waveforms are set as 𝐵 = 500𝑀𝐻𝑧 and 𝑇 = 1𝑚𝑠,
respectively. Additive White Guassian noise is added to the
simulated received signal with 𝑆𝑁𝑅 = 20𝑑𝐵. The average
number of clutters at each scan is 5 following Poisson
distribution and 𝑃 = 0.99.
6.1 Scenario I
The antennas configuration and trajectories of two targets are
shown in Fig. 5, with target 1 and target 2 starting at (-2,8) and
(0.5,11), respectively. Target 2 is moving along the radar line-
of-sight (LoS). The range-Doppler map plotted in Fig. 6 clearly
shows two distinct targets with initial radial velocities of 𝑣 =
−1.5𝑚/𝑠 and 𝑣 = −0.5𝑚/𝑠 and initial ranges of 𝑅 =
8.3𝑚 and 𝑅 = 11.3𝑚, respectively.
5
Time-varying Doppler and interferometric spectrogram
corresponding to 24GHz and 6GHz waveforms are shown in
Fig. 7. The extracted instantaneous radial and angular velocities
are presented by Fig. 8.
Fig.5: The geometry of targets along with radar
Fig.6: Range-Doppler map
Fig.7: Doppler and interferometric spectrogram
Fig.8: Instantaneous radial and angular velocities of
targets
For target 1, the radial and angular velocities show
complementary behavior, whereas for target 2, there is only
radial velocity component as target moves along the radar LoS.
6
Based on the range and 2-D velocities, the estimated
trajectories of the targets and RMSEs in position estimates for
100 runs of Monte Carlo simulations have been shown in Fig.
9, which agrees well with the configured scenario. Peaks in
RMSEs for target 1 correspond to sudden change in the
direction of target at edges.
Fig.9: Original and estimated trajectories and RMSEs in
positions of targets
6.2 Scenario II
In this scenario, both targets are moving along the tangential to
radar as shown in Fig. 10. The range-Doppler map is shown in
Fig.11 with initial ranges of 𝑅 = 8𝑚 and 𝑅 = 12𝑚. Since
the targets are moving along the tangential to radar, their radial
velocities are zero.
Time-varying Doppler and interferometric spectrogram and
instantaneous radial and angular velocities are shown in Fig.12
and Fig.13, respectively. The estimated trajectories of the
targets and RMSEs in position estimates shown in Fig.14
demonstrate the fact that multiple targets moving with no radial
velocities can be tracked on the basis of their angular velocity
information.
Fig.10: The geometry of targets along with radar
 Fig.11: Range-Doppler map targets showing complementary behavior are presented in Fig.
17 and Fig.18, respectively.

Fig.12: Doppler and interferometric spectrogram

Fig.15: The geometry of targets along with radar

Fig.13: Instantaneous radial and angular velocities of

targets Fig.16: Range-Doppler map

Fig.17: Doppler and interferometric spectrogram

Fig.14: Original and estimated trajectories and RMSEs in
positions of targets

6.3 Scenario III

For the scenario shown in Fig.15, the range-Doppler map is

plotted in Fig.16 with initial radial velocities of 𝑣 =
−0.7𝑚/𝑠 and 𝑣 = −1.5𝑚/𝑠 and initial ranges of 𝑅 = 9𝑚
and 𝑅 = 11.04𝑚, respectively.

Time-varying Doppler and interferometric spectrogram and the

extracted instantaneous radial and angular velocities of the

7
 Fig.18: Instantaneous radial and angular velocities of
targets
Fig.19: Original and estimated trajectories and RMSEs in
positions of targets
The estimated trajectories of the targets and RMSEs in position
estimates shown in Fig.19 demonstrate the effectiveness of the
proposed algorithm.
7 Conclusion
An algorithm for detection and tracking of multiple targets
using dual-frequency interferometric radar was presented in
this paper. Detection was performed based on the range-
Doppler map obtained from 2-D FFT, while tracking was
accomplished on the basis of 2-D velocities extracted from
time-varying Doppler and interferometric spectrograms. To
suppress the nuisance intermodulation terms in the
interferometric response caused by multiple targets in the radar
FoV, the dual-frequency interferometric radar was utilized
which transmitted high frequency waveforms for radial
velocity extraction and low frequency waveforms for angular
velocity extraction. 2-D velocity measurements and multiple
targets were associated by measuring their initial DOA in
interferometric mode. Finally, GNN algorithm with MGEKF
was utilized for measurement-to-track association and targets’
state estimation, respectively. Simulated radar data for different
trajectories of targets demonstrated the effectiveness of the
proposed MTT algorithm. This work removed the need of radar
networks and complex array processing algorithms to track
multiple targets in 2-D space.
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