A frequency modulation continuous wave (FMCW)-based system, comprising: an emitter configured to transmit at least one wave of radiation to a scene, wherein the transmitted wave is linearly modulated in a frequency domain, and wherein the linear modulation is subject to impairments causing a non-linearity of the transmitted wave in the frequency domain; a receiver configured to receive a reflection of the transmitted wave from one or multiple objects in the scene; a mixer operatively connected to the emitter and the receiver and configured to interfere a copy of the wave transmitted by the emitter with the reflection of the transmitted wave received by the receiver to generate a beat signal with spectrum peaks corresponding to reflections from the one or multiple objects in the scene, wherein the beat signal is distorted due to the non-linearity of the modulation caused by the impairments; an analog-to-digital converter operatively connected to the mixer and configured to generate samples of the distorted beat signal; a frequency filter configured to pass signals at predetermined frequencies, the frequency filter is operatively connected to the emitter passing the linearly modulated wave transmitted by the emitter at different time instances at the predetermined frequencies to generate measurements of the modulated wave in a time-domain; and characterized by further comprising: at least one processor configured to: convert the measurements of the linearly modulated wave from the time-domain into a frequency-domain to produce a non-linear frequency signal, wherein the non-linear frequency signal comprises a known linear component representing the desired linear modulation and an unknown non-linear component representing the non-linearity of the modulation; determine coefficients of a basis function approximating a difference between the non-linear frequency signal and the linear frequency component in the frequency domain; and detect one or multiple spectrum peaks in the distorted beat signal with the distortion compensated according to the basis function with the determined coefficients to determine one or multiple distances to the one or multiple objects in the scene. an emitter configured to transmit at least one wave of radiation to a scene, wherein the transmitted wave is linearly modulated in a frequency domain, and wherein the linear modulation is subject to impairments causing a non-linearity of the transmitted wave in the frequency domain; a receiver configured to receive a reflection of the transmitted wave from one or multiple objects in the scene; a mixer operatively connected to the emitter and the receiver and configured to interfere a copy of the wave transmitted by the emitter with the reflection of the transmitted wave received by the receiver to generate a beat signal with spectrum peaks corresponding to reflections from the one or multiple objects in the scene, wherein the beat signal is distorted due to the non-linearity of the modulation caused by the impairments; an analog-to-digital converter operatively connected to the mixer and configured to generate samples of the distorted beat signal; a frequency filter configured to pass signals at predetermined frequencies, the frequency filter is operatively connected to the emitter passing the linearly modulated wave transmitted by the emitter at different time instances at the predetermined frequencies to generate measurements of the modulated wave in a time-domain; and characterized by further comprising: at least one processor configured to: convert the measurements of the linearly modulated wave from the time-domain into a frequency-domain to produce a non-linear frequency signal, wherein the non-linear frequency signal comprises a known linear component representing the desired linear modulation and an unknown non-linear component representing the non-linearity of the modulation; determine coefficients of a basis function approximating a difference between the non-linear frequency signal and the linear frequency component in the frequency domain; and detect one or multiple spectrum peaks in the distorted beat signal with the distortion compensated according to the basis function with the determined coefficients to determine one or multiple distances to the one or multiple objects in the scene. convert the measurements of the linearly modulated wave from the time-domain into a frequency-domain to produce a non-linear frequency signal, wherein the non-linear frequency signal comprises a known linear component representing the desired linear modulation and an unknown non-linear component representing the non-linearity of the modulation; determine coefficients of a basis function approximating a difference between the non-linear frequency signal and the linear frequency component in the frequency domain; and detect one or multiple spectrum peaks in the distorted beat signal with the distortion compensated according to the basis function with the determined coefficients to determine one or multiple distances to the one or multiple objects in the scene.