Generalisation of radar Doppler shift for target of arbitrary velocity relative to transceiver

Based on the pseudorange correction adopted in GPS (global positioning system), the round-trip propagation range for a monostatic radar is derived. By treating the Doppler effect as the time rate of chance of the propagation range, the radar Doppler shift is generalised to the case where the velocity of the target relative to the transceiver is arbitrary, thereby taking into account both the transverse component of the relative velocity and the acceleration