Parametrization of target direction for skewed L-shaped MIMO radar arrays for fast angular estimation

The invention relates to the determination of the angle of an obstacle with respect to a radar system. Especially the invention is concerned with the transformation of radar data into the angle domain. A method for transforming radar data of a coherent MIMO radar system to the angle domain is proposed. The coherent MIMO radar system comprises transmitter antennas (Tx) and receiver antennas (Rx) spanning a virtual 2D aperture wherein two lines defining two physical directions exist, which are not collinear and wherein a group of said antennas is associated with each of said two lines, and wherein the antennas of each of said two groups are spaced apart from each other mainly along the physical direction associated with the respective line of said two groups, where in the calculations to transform the received data from a delay/Doppler domain to an angle domain is carried out using a parameterization in a coordinate system that is a dual basis to a basis constructed from the two physical directions and a third direction being perpendicular to the first physical direction and said second physical direction, and wherein the origin is chosen to be the point of intersection of the lines defined by the two physical directions or the midpoint of the line segment connecting the points of closest contact of these two lines.