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If there is no SATCOM up they won't appear on the mini map unless they fire an unsilenced gun.
If there is one SATCOMs up they will appear on the minimap if you or a teamate has sight of them, once sight is lost so will their orange dot.
If there are 2-4 SATCOMs up the orange dots will be up as a radarwide ping, more coms = faster sweep. (Barring any negating perks from them)
If there are 5 SATCOMs up, the radar will show live movement and facing direction of enemies, very rare.
Hope this helps, good luck sir.
http://callofduty.wikia.com/wiki/Minimap
HUD
http://callofduty.wikia.com/wiki/HUD