A radar system comprising: a waveform generator configured to produce a first transmit signal including a first sequence of waveforms and a second transmit signal including a second sequence of waveforms, wherein the first and second transmit signals have different waveform repetition rates; a transmitter configured to transmit the first and second transmit signals; a first receiver comprising: a first downconverter configured to downconvert a first received signal to produce a first downconverted signal and downconvert a second received signal to produce a second downconverted signal, wherein the first received signal corresponds to the first transmitted signal and the second received signal corresponds to the second transmitted signal; and a first analog to digital converter configured to convert the first downconverted signal to a first digital signal and the second downconverted signal to a second digital signal; a digital signal processor configured to: process the first digital signal to produce a first range / relative velocity matrix; detect objects in the first range / relative velocity matrix to produce a first detection vector; unfold the first detection vector along a velocity dimension by means of repetition; process the second digital signal to produce a second range / relative velocity matrix; interpolate the second range / relative velocity matrix in the relative velocity direction wherein the interpolated second range / relative velocity matrix has a frequency spacing corresponding to the frequency spacing of the first range / relative velocity matrix in the relative velocity direction; detect objects in the interpolated second range / relative velocity matrix to produce a second detection vector; unfold the second detection vector along the velocity dimension by means of repetition; and determine a true velocity of the detected objects based upon the unfolded first and second detection vectors. a waveform generator configured to produce a first transmit signal including a first sequence of waveforms and a second transmit signal including a second sequence of waveforms, wherein the first and second transmit signals have different waveform repetition rates; a transmitter configured to transmit the first and second transmit signals; a first receiver comprising: a first downconverter configured to downconvert a first received signal to produce a first downconverted signal and downconvert a second received signal to produce a second downconverted signal, wherein the first received signal corresponds to the first transmitted signal and the second received signal corresponds to the second transmitted signal; and a first analog to digital converter configured to convert the first downconverted signal to a first digital signal and the second downconverted signal to a second digital signal; a first downconverter configured to downconvert a first received signal to produce a first downconverted signal and downconvert a second received signal to produce a second downconverted signal, wherein the first received signal corresponds to the first transmitted signal and the second received signal corresponds to the second transmitted signal; and a first analog to digital converter configured to convert the first downconverted signal to a first digital signal and the second downconverted signal to a second digital signal; a digital signal processor configured to: process the first digital signal to produce a first range / relative velocity matrix; detect objects in the first range / relative velocity matrix to produce a first detection vector; unfold the first detection vector along a velocity dimension by means of repetition; process the second digital signal to produce a second range / relative velocity matrix; interpolate the second range / relative velocity matrix in the relative velocity direction wherein the interpolated second range / relative velocity matrix has a frequency spacing corresponding to the frequency spacing of the first range / relative velocity matrix in the relative velocity direction; detect objects in the interpolated second range / relative velocity matrix to produce a second detection vector; unfold the second detection vector along the velocity dimension by means of repetition; and determine a true velocity of the detected objects based upon the unfolded first and second detection vectors. process the first digital signal to produce a first range / relative velocity matrix; detect objects in the first range / relative velocity matrix to produce a first detection vector; unfold the first detection vector along a velocity dimension by means of repetition; process the second digital signal to produce a second range / relative velocity matrix; interpolate the second range / relative velocity matrix in the relative velocity direction wherein the interpolated second range / relative velocity matrix has a frequency spacing corresponding to the frequency spacing of the first range / relative velocity matrix in the relative velocity direction; detect objects in the interpolated second range / relative velocity matrix to produce a second detection vector; unfold the second detection vector along the velocity dimension by means of repetition; and determine a true velocity of the detected objects based upon the unfolded first and second detection vectors.