A multi-node radar system comprising: a radar transmitter to transmit a radar signal; a distributed network of radar receivers (606, 608, 610) to receive the radar signal at each radar receiver of the distributed network of radar receivers; and a processor to: determine a first range and a first angular position of a background point based on a return time detected at each radar receiver of the distributed network of radar receivers, wherein the first range and the first angular position are included in first radar data; determine a second range and a second angular position of the background point based on a doppler shift detected at each radar receiver of the distributed network of radar receivers, wherein the second range and the second angular position are included in second radar data; data; refine the first and second range of the background point by at least coalescing the return time and constant doppler calculations and the first and second angular position of the background point by at least coalescing the return time, the constant doppler calculations and phase shift calculations to respectively determine a refined range and a refined angular position of the background point, wherein the refined range and the refined angular position are included in third radar data; and generate a radar map based on the third radar data, wherein the processor is further to filter out grating lobes based on phase comparison calculations determining false angular returns (1010, 1012). a radar transmitter to transmit a radar signal; a distributed network of radar receivers (606, 608, 610) to receive the radar signal at each radar receiver of the distributed network of radar receivers; and a processor to: determine a first range and a first angular position of a background point based on a return time detected at each radar receiver of the distributed network of radar receivers, wherein the first range and the first angular position are included in first radar data; determine a second range and a second angular position of the background point based on a doppler shift detected at each radar receiver of the distributed network of radar receivers, wherein the second range and the second angular position are included in second radar data; data; refine the first and second range of the background point by at least coalescing the return time and constant doppler calculations and the first and second angular position of the background point by at least coalescing the return time, the constant doppler calculations and phase shift calculations to respectively determine a refined range and a refined angular position of the background point, wherein the refined range and the refined angular position are included in third radar data; and generate a radar map based on the third radar data, wherein the processor is further to filter out grating lobes based on phase comparison calculations determining false angular returns (1010, 1012). determine a first range and a first angular position of a background point based on a return time detected at each radar receiver of the distributed network of radar receivers, wherein the first range and the first angular position are included in first radar data; determine a second range and a second angular position of the background point based on a doppler shift detected at each radar receiver of the distributed network of radar receivers, wherein the second range and the second angular position are included in second radar data; data; refine the first and second range of the background point by at least coalescing the return time and constant doppler calculations and the first and second angular position of the background point by at least coalescing the return time, the constant doppler calculations and phase shift calculations to respectively determine a refined range and a refined angular position of the background point, wherein the refined range and the refined angular position are included in third radar data; and generate a radar map based on the third radar data, wherein the processor is further to filter out grating lobes based on phase comparison calculations determining false angular returns (1010, 1012).