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This paper deals with the estimation of range-Doppler plane in pulse Doppler radar system, accounting both for clutter-free scenario and clutter scenario. A modified adaptive multi-pulse compression (MAMPC) algorithm including the estimation stages of range dimension and Doppler dimension is proposed for clutter-free scenario, where each stage is implemented based on the gain constraint adaptive pulse compression (GCAPC) algorithm. Additionally, the combination of whitening method removing thedoi:10.1186/s13634-016-0423-2 fatcat:pc5b374bzzdb3fvc4rl2jsqjoa