A radar system (300A, 300B) comprising: a reference signal generator configured to produce a transmit reference signal comprising a sequence of waveforms; a waveform generator comprising: a frequency offset signal generator for generating a plurality of different frequency offset tones separated from one another by an offset frequency Δ f, and a plurality of single channel modulation mixers (401, 451) configured to generate a plurality of transmit signals, each having a different frequency offset from the transmit reference signal, where each single channel modulation mixer (401, 451) is connected to mix the transmit reference signal with one of the plurality of different frequency offset tones, thereby generating a frequency offset transmit signal that comprises an up-shifted sum component and a down-shifted delta component as one of the plurality of transmit signals; a signal encoder to encode the plurality of transmit signals using a signal conditioning and power amplification to produce and transmit N radio frequency encoded transmit signals over N transmit antennas; and a receiver module connected to one or more receive antennas and arranged to receive a target return signal reflected from the N radio frequency encoded transmit signals by a target; a radar control processing unit to generate a digital signal from a received target return signal, where the radar control processing unit is configured to process the digital signal with fast time processing steps to generate a received up-shifted sum component and down-shifted delta component range spectrum comprising N segments which correspond, respectively, to the N radio frequency encoded transmit signals transmitted over the N transmit antennas, and coherently combine the received up-shifted sum component and down-shifted delta component range spectrum. a reference signal generator configured to produce a transmit reference signal comprising a sequence of waveforms; a waveform generator comprising: a frequency offset signal generator for generating a plurality of different frequency offset tones separated from one another by an offset frequency Δ f, and a plurality of single channel modulation mixers (401, 451) configured to generate a plurality of transmit signals, each having a different frequency offset from the transmit reference signal, where each single channel modulation mixer (401, 451) is connected to mix the transmit reference signal with one of the plurality of different frequency offset tones, thereby generating a frequency offset transmit signal that comprises an up-shifted sum component and a down-shifted delta component as one of the plurality of transmit signals; a frequency offset signal generator for generating a plurality of different frequency offset tones separated from one another by an offset frequency Δ f, and a plurality of single channel modulation mixers (401, 451) configured to generate a plurality of transmit signals, each having a different frequency offset from the transmit reference signal, where each single channel modulation mixer (401, 451) is connected to mix the transmit reference signal with one of the plurality of different frequency offset tones, thereby generating a frequency offset transmit signal that comprises an up-shifted sum component and a down-shifted delta component as one of the plurality of transmit signals; a signal encoder to encode the plurality of transmit signals using a signal conditioning and power amplification to produce and transmit N radio frequency encoded transmit signals over N transmit antennas; and a receiver module connected to one or more receive antennas and arranged to receive a target return signal reflected from the N radio frequency encoded transmit signals by a target; a radar control processing unit to generate a digital signal from a received target return signal, where the radar control processing unit is configured to process the digital signal with fast time processing steps to generate a received up-shifted sum component and down-shifted delta component range spectrum comprising N segments which correspond, respectively, to the N radio frequency encoded transmit signals transmitted over the N transmit antennas, and coherently combine the received up-shifted sum component and down-shifted delta component range spectrum.