Range-Doppler FFT

Range FFT is applied to ADC samples for each chirp to obtain range bins.

Once the range FFT is completed for one frame, the Doppler FFT is performed along the slow-time (chirp) axis.

Throughout these two FFT processes, the phase of the first chirp’s beat signal is preserved even after the Doppler FFT.

RD Map and Heat Map

The Range-Doppler (RD) map is constructed by organizing the range and Doppler FFT results for one frame.

A heat map provides an intuitive, color-coded representation of the RD map’s magnitude.