The optical rotational Doppler effect (RDE) related to orbital angular momentum has attracted extensive attention in rotating targets detection. In this paper, we present a novel rotating target detection model based on optical RDE, where the vortex beam can be incident on the rotating target with an arbitrary case. Based on the proposed detection model, we investigated the mechanism of rotational Doppler shift and deduced the generalized formula of the Doppler frequency shift under arbitrary incidence of the vortex beam by phase modulation method. Subsequently, the model is studied under different incident cases, and the variation of Doppler frequency shift with different incident parameters is analyzed combining with the deduced formulas. Meanwhile, we also give the detection methods to for motion parameter estimations of the rotating target. Theoretical and simulated results verify the effectiveness of the proposed model, and more detailed motion parameters can be obtained based on RDE. This theoretical model enables us to better understand the generation of the rotational Doppler frequency and may be useful for the application of remote sensing of a rotating target.
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