A radar system comprising: a reference signal generator configured to produce a transmit reference signal comprising a sequence of waveforms; a plurality of Doppler division multiplexing, DDM, transmit modules connected and configured to produce, condition, and transmit a plurality of transmit signals over N transmit antennas, each transmit signal having a different co-prime coded, CPC, phase offset from the transmit reference signal; at least a first receiver module connected and configured to receive a target return signal reflected from the plurality of transmit signals by at least one target and to generate a digital signal from the target return signal; and a radar control processing unit configured to detect Doppler spectrum peaks in the digital signal, the radar control processing unit comprising a Doppler disambiguation module that is configured with a CPC decoder to associate each detected Doppler spectrum peak with a corresponding DDM transmit module, thereby generating a plurality of transmitter-associated Doppler spectrum peak detections; wherein each DDM transmit module comprises: a slow-time phase offset shifter connected to generate a co-prime encoded progressive phase offset signal from the transmit reference signal; and a signal encoder (115, 116) to encode the co-prime encoded progressive phase offset signal using signal conditioning and power amplification to produce and transmit one of the plurality of transmit signals as a radio frequency encoded transmit signal over a transmit antenna. a reference signal generator configured to produce a transmit reference signal comprising a sequence of waveforms; a plurality of Doppler division multiplexing, DDM, transmit modules connected and configured to produce, condition, and transmit a plurality of transmit signals over N transmit antennas, each transmit signal having a different co-prime coded, CPC, phase offset from the transmit reference signal; at least a first receiver module connected and configured to receive a target return signal reflected from the plurality of transmit signals by at least one target and to generate a digital signal from the target return signal; and a radar control processing unit configured to detect Doppler spectrum peaks in the digital signal, the radar control processing unit comprising a Doppler disambiguation module that is configured with a CPC decoder to associate each detected Doppler spectrum peak with a corresponding DDM transmit module, thereby generating a plurality of transmitter-associated Doppler spectrum peak detections; wherein each DDM transmit module comprises: a slow-time phase offset shifter connected to generate a co-prime encoded progressive phase offset signal from the transmit reference signal; and a signal encoder (115, 116) to encode the co-prime encoded progressive phase offset signal using signal conditioning and power amplification to produce and transmit one of the plurality of transmit signals as a radio frequency encoded transmit signal over a transmit antenna. a slow-time phase offset shifter connected to generate a co-prime encoded progressive phase offset signal from the transmit reference signal; and a signal encoder (115, 116) to encode the co-prime encoded progressive phase offset signal using signal conditioning and power amplification to produce and transmit one of the plurality of transmit signals as a radio frequency encoded transmit signal over a transmit antenna.