Abstract: A method for detecting and processing echo signals comprises detecting reflections of a transmitted signal as echo signals, obtaining digital magnitudes representative of an envelope of the echo signals over time, applying the digital magnitudes to a plurality of data storing cells, estimating a signal threshold by accumulating the digital magnitudes from a predetermined number of reference window cells at each side of a predetermined cell-under-test in the plurality of data storing cells and multiplying the resulting accumulated signal by a predetermined first weight factor, thus obtaining an estimated signal threshold, comparing the threshold with the signal stored in the predetermined cell-under-test in the plurality of data storing cells, thus reducing chances of false detection.