“…An expression can be obtained using a fourth‐order Taylor approximation of the time‐varying phase evolution as where (rad) is a random constant phase value, (Hz) the carrier Doppler frequency shift, (Hz/s) the Doppler frequency rate, and (Hz/s) the Doppler acceleration. Notice that the phase can be expressed recursively as which is very convenient for state‐space formulations of the tracking problem (Vilà‐Valls, Closas, Fernández‐Prades, & Curran, 2018). Lower o...…”