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IWR6843: about tracking radar targets with multiple reflection points

Part Number: IWR6843

hello,

I read the document that 'tracking radar targets with multiple reflection points', and i have some questions about that.

in this equation,

1. I want to know the definition and expression 'RG' . and is it different from Rc in equation (3-8)?

2. Is it CD in the equation is CD(n-1) or CD(n) ? I think i cannot know CD(n) in CG(n). and what is the definition and expression 'CD'?

Please help me understand the process of group tracking.

I attach the document that I read.(tracking radar targets with multiple reflection points)

Tracking_radar_targets_with_multiple_reflection_points.pdf