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A dual-frequency radar, which estimates the range of a target based on the phase difference between two closely spaced frequencies, has been shown to be a cost-effective approach to accomplish both range-to-motion estimation and tracking. This approach, however, suffers from two drawbacks: it cannot deal with multiple moving targets, and it has poor performance in noisy environments. In this letter, we propose the use of time-frequency signal representations to overcome these drawbacks. The phase, and subsequently the range information, is obtained based on the moving target instantaneous Doppler frequency law, which is provided through time-frequency signal representations. The case of multiple moving targets is handled by separating the different Doppler signatures prior to phase estimation.