A method of determining the distance between and/or relative velocity of a first FMCW radar terminal A and a second FMCW radar terminal B, comprising two measurement cycles, during the first of which: - terminal A transmits a first locally generated periodic FMCW transmit signal, comprised of a repetition of a radar pulse, to terminal B, each radar pulse including at least a linear up-chirp and a linear down-chirp.; and - terminal B receives the first transmit signal from terminal A as a first receive signal, and mixes it with a locally generated replica of the first transmit signal to produce a first beat signal; and during the second of which: - terminal B transmits a second locally generated periodic FMCW transmit signal, comprised of a repetition of a radar pulse, to terminal A, each radar pulse including at least a linear up-chirp and a linear down-chirp; and - terminal A receives the second transmit signal from terminal A as a second receive signal, and mixes it with a locally generated replica of the second transmit signal to produce a second beat signal; and wherein the method further comprises: - analyzing the frequency spectra of the first and second beat signals to determine their beat frequencies (Δ f up,A, Δ f down,A, Δ f up,B, Δf down,B), and - calculating the distance between and/or relative radial velocity ( v rad,A-B) of the FMCW radar terminals A and B from said determined beat frequencies; wherein the method is characterized in that: - analyzing the frequency spectrum of the first beat signal comprises determining two first beat frequencies (Δ f up,A, Δ f down,A) corresponding to frequency differences between, respectively, rising and falling flanks of the first transmit signal and its replica, and - analyzing the frequency spectrum of the second beat signal comprises determining two second beat frequencies ( Δf up,B, Δ f down,B) corresponding to frequency differences between, respectively, rising and falling flanks of the second transmit signal and its replica. - terminal A transmits a first locally generated periodic FMCW transmit signal, comprised of a repetition of a radar pulse, to terminal B, each radar pulse including at least a linear up-chirp and a linear down-chirp.; and - terminal B receives the first transmit signal from terminal A as a first receive signal, and mixes it with a locally generated replica of the first transmit signal to produce a first beat signal; - terminal B transmits a second locally generated periodic FMCW transmit signal, comprised of a repetition of a radar pulse, to terminal A, each radar pulse including at least a linear up-chirp and a linear down-chirp; and - terminal A receives the second transmit signal from terminal A as a second receive signal, and mixes it with a locally generated replica of the second transmit signal to produce a second beat signal; - analyzing the frequency spectra of the first and second beat signals to determine their beat frequencies (Δ f up,A, Δ f down,A, Δ f up,B, Δf down,B), and - calculating the distance between and/or relative radial velocity ( v rad,A-B) of the FMCW radar terminals A and B from said determined beat frequencies; - analyzing the frequency spectrum of the first beat signal comprises determining two first beat frequencies (Δ f up,A, Δ f down,A) corresponding to frequency differences between, respectively, rising and falling flanks of the first transmit signal and its replica, and - analyzing the frequency spectrum of the second beat signal comprises determining two second beat frequencies ( Δf up,B, Δ f down,B) corresponding to frequency differences between, respectively, rising and falling flanks of the second transmit signal and its replica.