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A compact terahertz frequency domain spectrometer realized through photo-mixing of two distributed feedback (DFB) diode lasers in ErAs:GaAs is shown to have a signal-to-noise ratio of 80 dB*Hz at 200 GHz and 60 dB*Hz at 1 THz. Continuous frequency sweeping is demonstrated with better than 1 GHz resolution from 200 GHz to 1.85 THz. The system is employed for the characterization of several explosives.