Various exemplary embodiments relate to a method for detecting an object using radar system having M transmit antennas, N receive antennas, and a processor, including: receiving, by the processor, N×M digital signals, wherein the N receivers receive M received signals corresponding to M sequences of encoded transmitted signals resulting in N×M digital signals; processing the N×M digital signals to produce N×M first range/relative velocity matrices; applying a phase compensation to N×(M−1) first range/relative velocity matrices to compensate for a difference in range between the N×(M−1) first range/relative velocity matrices and the Mth range/velocity matrix; decoding 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; detecting objects using the M range/relative velocity matrices for the N receivers to produce a detection vector.