Table 2.

Comparison of tracking errors among different radar technologies.

	Radar technology	Frequency	Error formula	Error
				Range (m)	Angle (${}^{\circ }$)
This work	SISO FMCW	7.3–8.3 GHz	RMSE	0.09–0.24 m	2.50–6.19${}^{\circ }$
14	Dual-frequency continuous-wave	2.4 GHz, 2.41 GHz	RMSE	0.11–0.58 m	−
15	Impulse-radio UWB	3.1–5.6 GHz	Averaged RMSE	0.10–0.13 m	−
16	Wi-Fi-based multi-antenna passive	80 MHz around 2.45 GHz	Averaged RMSE	0.32 m	−
17	MIMO FMCW s	24.025–24.225 GHz	Absolute error	$\le$0.25 m	$\le$ 10${}^{\circ }$