A method of estimating an angle of arrival of a radar signal reflected on a human target includes: receiving the reflected radar signal with first and second antennas of a millimeter-wave radar； transforming the reflected radar signal received to generate first and second range spectrum, respectively； generating a first and second range-Doppler maps based on the first and second range spectrum, respectively； determining or estimating a Doppler velocity based on the first range-Doppler map or the second range-Doppler map； compensating the first and second range-Doppler maps by selecting a peak in the first or second range-Doppler maps based on the determined Doppler velocity； identifying an index of the first macro-compensated range-Doppler map corresponding to an identified target； estimating a phase difference based on the first and second macro-compensated range-Doppler maps and the identified index； and estimating the angle of arrival based on the phase difference.
