“…Therefore, the micromotion feature parameters P A = oa , ϕ 0 , β, ϑ, ω, v, ob , r 0 , R c can be extracted via fitting the obtained range trajectory R p k according to the mathematical expression of m-D effect (r a t , r c t , and r d t ) with the Levenberg-Marquardt method. In turn, the extracted micromotion feature parameters are utilized to 2 Journal of Sensors update the parameters of TBD adaptively. The state y k will belong to the state transition set Γ y k+1 (i.e., y k ∈ Γ y k+1 ) when it satisfies…”