In conclusion, the range of a single target can be found through the beat frequency while the velocity of a single target is hidden in the phase evolution over a period of time which is similar to Doppler frequency. We have learned that the range of a single target can be found through the beat frequency while the velocity and direction of a single target are hidden in the phase evolutions over a period of time and along the antennas, respectively. Once the range FFTs for all the chirps in a frame are stored, the Doppler FFT is computed on this result from chirp to chirp in frequency domain, as illustrated in the figure below.