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If the target is moving at a velocity from an initial position Ri then its position
with respect to velocity and time can be described as,
R=υt+Ri
Therefore the phase of the scattered field from the moving target is changing
with respect to time.
Doppler is the time rate change of scattered phase. A time rate change of phase is a frequency shift. This frequency shift is described by the Doppler equation which can be derived by re-arranging terms from above