A multiple-input multiple-output, MIMO, radar system for detecting an object in a vicinity of an aerial vehicle, the MIMO radar system comprising: a first transmitter patch (no), a second transmitter patch, and a third transmitter patch, comprising, respectively, a first, second, and third plurality of transmitting antenna elements (115, 125, 135) configured to transmit, respectively, a first, second and third plurality of transmission signals (210, 220, 230); a plurality of receiving antenna elements, wherein each receiving antenna element is configured to receive the transmitted transmission signals (215, 225, 235) after their reflection from the object; a signal forming module, configured to generate the transmission signals (210, 220, 230) and to provide the transmission signals (210, 220, 230) to their respective transmitting antenna elements (115, 125, 135); and a digital processing module, configured to detect, based on the received transmission signals (215, 225, 260), characteristics of the object; wherein a first direction between the first transmitter patch and the second transmitter patch is different from a second direction between the second transmitter patch and the third transmitter patch, and wherein each transmitter patch (110, 120, 130) includes multiple transmitting antenna elements (115, 125, 135) in the first as well as in the second direction (10, 20), thereby achieving a virtual array of receiving antenna elements which extends the plurality of receiving antenna elements in the first and in the second direction (10, 20) in a gap-free and homogeneous way, wherein the signal forming module is configured to generate the transmission signals (210, 220, 230) repeatedly, characterized in that the signal forming module is further configured to add, from one repetition to a next repetition, one or both of the following: to an initial phase of each of the first transmission signals, a fixed phase shift, such that a phase difference between the first transmission signals and the other transmission signals (220, 230) increases by the fixed phase shift from repetition to repetition, to a frequency of each of the first transmission signals, a fixed frequency shift, such that a frequency difference between the first transmission signals and the other transmission signals (220, 230) increases by the fixed frequency shift from repetition to repetition. a first transmitter patch (no), a second transmitter patch, and a third transmitter patch, comprising, respectively, a first, second, and third plurality of transmitting antenna elements (115, 125, 135) configured to transmit, respectively, a first, second and third plurality of transmission signals (210, 220, 230); a plurality of receiving antenna elements, wherein each receiving antenna element is configured to receive the transmitted transmission signals (215, 225, 235) after their reflection from the object; a signal forming module, configured to generate the transmission signals (210, 220, 230) and to provide the transmission signals (210, 220, 230) to their respective transmitting antenna elements (115, 125, 135); and a digital processing module, configured to detect, based on the received transmission signals (215, 225, 260), characteristics of the object; wherein a first direction between the first transmitter patch and the second transmitter patch is different from a second direction between the second transmitter patch and the third transmitter patch, and wherein each transmitter patch (110, 120, 130) includes multiple transmitting antenna elements (115, 125, 135) in the first as well as in the second direction (10, 20), thereby achieving a virtual array of receiving antenna elements which extends the plurality of receiving antenna elements in the first and in the second direction (10, 20) in a gap-free and homogeneous way, wherein the signal forming module is configured to generate the transmission signals (210, 220, 230) repeatedly, characterized in that the signal forming module is further configured to add, from one repetition to a next repetition, one or both of the following: to an initial phase of each of the first transmission signals, a fixed phase shift, such that a phase difference between the first transmission signals and the other transmission signals (220, 230) increases by the fixed phase shift from repetition to repetition, to a frequency of each of the first transmission signals, a fixed frequency shift, such that a frequency difference between the first transmission signals and the other transmission signals (220, 230) increases by the fixed frequency shift from repetition to repetition. to an initial phase of each of the first transmission signals, a fixed phase shift, such that a phase difference between the first transmission signals and the other transmission signals (220, 230) increases by the fixed phase shift from repetition to repetition, to a frequency of each of the first transmission signals, a fixed frequency shift, such that a frequency difference between the first transmission signals and the other transmission signals (220, 230) increases by the fixed frequency shift from repetition to repetition.