A hazardous fire detection radar system that may be mounted on a vehicle, such as aan aircraft to detect bullets, grenades and similar projectiles that may pose a danger to the vehicle. The system may observe a wide field-of-regard (FOR) and for each projectile, determine the range of closest approach to the host platform (miss distance) and an approximate direction of origin. The FMCW radar system measures range and Doppler information for targets within its FOR and resolves Doppler ambiguity by estimating angular information (azimuth and elevation) for each target projectile. The system may estimate angular information by using a monopulse antenna pattern with the radar receiver.