function [ echo_rd_mtx, target_list_RDA, sigma_n_rd ] =...
    echo_processing_MF_v0( echo_mtx, PRF, fs, fc, B, D, d, sigma_n, P_fa )

    % 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);
    
    [A, signal_t] = generate_chirp_mtx(PRF, B, fs, D);
    
    [echo_r_mtx, sigma_n_o] = range_process_MF(echo_sFFT_mtx, A, sigma_n);
    
    [echo_rd_mtx, stat_RD, sigma_n_rd] = doppler_process_MF(echo_r_mtx, sigma_n_o); %差个方差
    
    [target_list_RDA_temp, target_map] = rda_detection(stat_RD, P_fa);
    target_list_RDA = target_list_RDA_temp;
    target_list_RDA(:, 1) = distance_v(target_list_RDA(:, 1));
    target_list_RDA(:, 2) = speed_v(target_list_RDA(:, 2));
    target_list_RDA(:, 3) = angle_v(target_list_RDA(:, 3));

end