A radar system (100; 800) comprising: M transmit antennas (710, 720); N receive antennas (730, 732); a waveform generator (105; 805) configured to produce a transmit signal including a sequence of waveforms, wherein the transmit signal is a frequency modulated continuous wave, FMCW, signal wherein the sequence of waveforms comprises a sequence of N c frequency chirped waveforms, each frequency chirped waveform having a carrier frequency and a waveform duration; a signal encoder (860, 864) encoding the transmit signal using a transmit encoding to produce M sequences of encoded transmit signals; N receivers comprising: a downconverter configured to downconvert a received signal to produce a downconverted signal wherein the received signal corresponds to the M sequences of encoded transmitted signals; and an analog to digital converter (130; 830) configured to convert the downconverted signal to a digital signal; a digital signal processor configured to: receive NxM digital signals, wherein the N receivers receive M received signals corresponding to M sequences of encoded transmitted signals resulting in NxM digital signals; process the NxM digital signals to produce NxM first range / relative velocity matrices; apply a phase compensation to Nx(M-1) first range / relative velocity matrices to compensate for a difference in range between the Nx(M-1) first range / relative velocity matrices and the Mth range / velocity matrix; decode the M phase compensated range / relative velocity matrices for the N receivers using an inverse of the transmit encoding to produce M decoded phase range / relative velocity matrices for the N receivers; detect objects using the M range / relative velocity matrices for the N receivers to produce a detection vector; wherein the phase compensation is calculated as follows: c corr, q 1 n c = exp − j 2 π n c N c q wherein n c = − N c 2, − N c 2 + 1... N c 2 − 2, N c 2 − 1 q = 0... Q - 2, Q - 1, where Q is the number of subsets into which the sequence is split and corresponds to the number of transmit antennas. M transmit antennas (710, 720); N receive antennas (730, 732); a waveform generator (105; 805) configured to produce a transmit signal including a sequence of waveforms, wherein the transmit signal is a frequency modulated continuous wave, FMCW, signal wherein the sequence of waveforms comprises a sequence of N c frequency chirped waveforms, each frequency chirped waveform having a carrier frequency and a waveform duration; a signal encoder (860, 864) encoding the transmit signal using a transmit encoding to produce M sequences of encoded transmit signals; N receivers comprising: a downconverter configured to downconvert a received signal to produce a downconverted signal wherein the received signal corresponds to the M sequences of encoded transmitted signals; and an analog to digital converter (130; 830) configured to convert the downconverted signal to a digital signal; a downconverter configured to downconvert a received signal to produce a downconverted signal wherein the received signal corresponds to the M sequences of encoded transmitted signals; and an analog to digital converter (130; 830) configured to convert the downconverted signal to a digital signal; a digital signal processor configured to: receive NxM digital signals, wherein the N receivers receive M received signals corresponding to M sequences of encoded transmitted signals resulting in NxM digital signals; process the NxM digital signals to produce NxM first range / relative velocity matrices; apply a phase compensation to Nx(M-1) first range / relative velocity matrices to compensate for a difference in range between the Nx(M-1) first range / relative velocity matrices and the Mth range / velocity matrix; decode the M phase compensated range / relative velocity matrices for the N receivers using an inverse of the transmit encoding to produce M decoded phase range / relative velocity matrices for the N receivers; detect objects using the M range / relative velocity matrices for the N receivers to produce a detection vector; receive NxM digital signals, wherein the N receivers receive M received signals corresponding to M sequences of encoded transmitted signals resulting in NxM digital signals; process the NxM digital signals to produce NxM first range / relative velocity matrices; apply a phase compensation to Nx(M-1) first range / relative velocity matrices to compensate for a difference in range between the Nx(M-1) first range / relative velocity matrices and the Mth range / velocity matrix; decode the M phase compensated range / relative velocity matrices for the N receivers using an inverse of the transmit encoding to produce M decoded phase range / relative velocity matrices for the N receivers; detect objects using the M range / relative velocity matrices for the N receivers to produce a detection vector; wherein the phase compensation is calculated as follows: c corr, q 1 n c = exp − j 2 π n c N c q wherein n c = − N c 2, − N c 2 + 1... N c 2 − 2, N c 2 − 1 q = 0... Q - 2, Q - 1, where Q is the number of subsets into which the sequence is split and corresponds to the number of transmit antennas.