Method of calibrating a radar system

A method of calibrating a radar system, the radar system comprises a transmit antenna array having a plurality of transmit antennas and a receive antenna array having a plurality of receive antennas, the plurality of transmit antennas are spaced along a transmit antenna array axis and the plurality of receive antennas are spaced along a receive antenna array axis that is perpendicular to the transmit antenna array, the method comprising the steps of:

• measuring a set of azimuth angles of the radar system to obtain a plurality of measured azimuth array responses, wherein the radar system is physically rotated about a first axis of the radar system between each azimuth angle measurement;
• measuring a set of elevation angles of the radar system to obtain a plurality of measured elevation array responses, wherein the radar system is physically rotated about a second axis of the radar system between each elevation angle measurement;
• obtaining an azimuth calibration matrix based on the plurality of measured azimuth array responses and an elevation calibration matrix based on the plurality of measured elevation array responses;
• and
• configuring the radar system to apply the azimuth calibration matrix and the elevation calibration matrix to one or more antenna array responses.