function [ echo_rd_mtx, target_list_RDA, sigma_n_rd ] =...
    echo_processing_MF( echo_mtx, PRF, fs, fc, B, D, d, sigma_n, P_fa )
% This function processes echo data using matching filter method.
%
% Usage: 
% [echo_rd_mtx, target_list_RDA, sigma_n_rd] = echo_processing_MF(echo_mtx, PRF, fs, fc, B, D, d, sigma_n, P_fa)
% Inputs:
%   echo_mtx:       Matrix containing the echo data
%   PRF:            Pulse Repetition Frequency
%   fs:             Sampling frequency
%   fc:             Carrier frequency
%   B:              Bandwidth
%   D:              Duty ratio
%   d:              Antenna spacing
%   sigma_n:        Input noise level of the echo data
%   P_fa:           False alarm probability threshold
%
% Outputs:
%   echo_rd_mtx:        Echo matrix after range-Doppler processing
%   target_list_RDA:    List of detected targets
%   sigma_n_rd:         Estimated noise level after range-Doppler processing


    % parameters
    c = 3e8;
    lambda = c / fc;
    [num_antenna, N, num_pluse] = size(echo_mtx);
    
    
    % data processing
    [distance_v, speed_v] = get_range_speed_val(PRF, fs, fc, num_pluse);
    
    [echo_sFFT_mtx, angle_v] = spatial_FFT(echo_mtx, d, lambda);
    fprintf('   Spatial_FFT done.\n');
    
    [A, signal_t] = generate_chirp_mtx(PRF, B, fs, D);
    fprintf('   Generate_chirp_mtx done.\n');
    
    [echo_r_mtx, sigma_n_o] = range_process_MF(echo_sFFT_mtx, A, sigma_n);
    fprintf('   Range_processing done.\n');
    
    [echo_rd_mtx, stat_RD, sigma_n_rd] = doppler_process_MF(echo_r_mtx, sigma_n_o);
    fprintf('   Doppler_processing done.\n');
    
    [target_list_RDA_temp, target_map] = rda_detection(stat_RD, P_fa);
    fprintf('   Target_detection done.\n');
    
    [target_list_RDA] = angle_estimation(target_list_RDA_temp, echo_mtx, A, d, lambda);
    fprintf('   Angle_estimation done.\n');
    target_list_RDA(:, 1) = distance_v(target_list_RDA(:, 1));
    target_list_RDA(:, 2) = speed_v(target_list_RDA(:, 2));

end