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AWR1642BOOST: Converting from Doppler Velocity to X/Y Velocity

Part Number: AWR1642BOOST

Does TI have reference material for how to go about converting the doppler velocity in the monostatic case to X/Y velocity of the targets? From what I understand, the velocity measurement that the radar produces is only velocity calculated from the doppler shift; therefore, for a target directly in front of the radar, the velocity will be entirely Y velocity and we will have no information on the X velocity of the target. I am guessing bearing comes into play here as well? If the target is not moving along the same range arc, can we fully describe X and Y velocity?