Resolution of doppler ambiguity in a radar system through tracking

A method of resolving ambiguity in a radar system, the method comprising:

• detecting one or more objects with the radar system, wherein the detecting includes obtaining range, azimuth, and an ambiguous range rate of a first object of the one or more objects;
• generating, using a processor, a plurality of Kalman filters with state variables that include parameters based on the range, the azimuth, and the ambiguous range rate, wherein each of the plurality of Kalman filters provides a different estimate for an unambiguous range rate;
• updating, using the processor, the plurality of Kalman filters using additional detections by the radar system;
• selecting, using the processor, a selected Kalman filter from among the plurality of Kalman filters that exhibits a highest probability mass among a plurality of probability mass corresponding with and derived from the plurality of Kalman filters;
• and
• determining, using the processor, the unambiguous range rate of the object using the selected Kalman filter.