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A 5.8-7.02-GHz radar sensor for remote health monitoring is reported. A proper radar waveform has been investigated aiming at fall detection and tagless localisation in home environments. The solution is based on a hybrid approach, combining continuous wave radar with stepped frequency features. Results show the ability in localising persons and in distinguishing between normal and fall movements, also in practical circumstances. Moreover, the system satisfies the European and Federal Communications Commission ultra-wideband spectrum masks.