A radar system comprising: a receive antenna configured to receive electromagnetic, EM, energy (302, 502, 310, 510) reflected by one or more objects, the receive antenna comprising: a one-dimensional, 1D, array comprising first antenna elements positioned in a first direction, the first antenna elements alternatingly spaced apart by a first distance and a second distance in the first direction; and a two-dimensional, 2D, array comprising at least four second antenna elements not encompassed by the 1D array and positioned in the first direction and a second direction, the second direction being orthogonal to the first direction, at least some of the second antenna elements spaced apart by a third distance equal to a sum of the first distance and the second distance in the first direction and by a fourth distance in the second direction; and one or more processors configured to: determine, using the EM energy (302, 502) received at the 1D array, pairs of first angles and second angles associated with the one or more objects, the first angles and the second angles being relative to the first direction, the first angles being determined using the first distance, the second angles being determined using the sum of the first distance and the second distance; determine, using the EM energy received (310, 510) at the 2D array, pairs of third angles and fourth angles associated with the one or more objects, the third angles being relative to the first direction and the fourth angles being relative to the second direction, the third angles being determined using the sum of the first distance and the second distance, the fourth angles being determined using the fourth distance; and associate respective first angles with respective fourth angles from among the pairs of first angles and second angles and the pairs of third angles and fourth angles for each object of the one or more objects by matching a respective second angle to a respective third angle. a one-dimensional, 1D, array comprising first antenna elements positioned in a first direction, the first antenna elements alternatingly spaced apart by a first distance and a second distance in the first direction; and a two-dimensional, 2D, array comprising at least four second antenna elements not encompassed by the 1D array and positioned in the first direction and a second direction, the second direction being orthogonal to the first direction, at least some of the second antenna elements spaced apart by a third distance equal to a sum of the first distance and the second distance in the first direction and by a fourth distance in the second direction; and one or more processors configured to: determine, using the EM energy (302, 502) received at the 1D array, pairs of first angles and second angles associated with the one or more objects, the first angles and the second angles being relative to the first direction, the first angles being determined using the first distance, the second angles being determined using the sum of the first distance and the second distance; determine, using the EM energy received (310, 510) at the 2D array, pairs of third angles and fourth angles associated with the one or more objects, the third angles being relative to the first direction and the fourth angles being relative to the second direction, the third angles being determined using the sum of the first distance and the second distance, the fourth angles being determined using the fourth distance; and associate respective first angles with respective fourth angles from among the pairs of first angles and second angles and the pairs of third angles and fourth angles for each object of the one or more objects by matching a respective second angle to a respective third angle. determine, using the EM energy (302, 502) received at the 1D array, pairs of first angles and second angles associated with the one or more objects, the first angles and the second angles being relative to the first direction, the first angles being determined using the first distance, the second angles being determined using the sum of the first distance and the second distance; determine, using the EM energy received (310, 510) at the 2D array, pairs of third angles and fourth angles associated with the one or more objects, the third angles being relative to the first direction and the fourth angles being relative to the second direction, the third angles being determined using the sum of the first distance and the second distance, the fourth angles being determined using the fourth distance; and associate respective first angles with respective fourth angles from among the pairs of first angles and second angles and the pairs of third angles and fourth angles for each object of the one or more objects by matching a respective second angle to a respective third angle.