Radar system and related method of scanning remote objects

A radar system, comprising:

• a processing device, arranged to generate a plurality of phase shifting digital signals;
• a plurality of transmitting devices, coupled to the processing device, for generating a radio frequency (RF) beam according to the plurality of phase shifting digital signals during a first mode, wherein the plurality of transmitting devices are disposed on a first axis;
• a plurality of first receiving devices, coupled to the processing device, for generating a plurality of first digital signals according to a plurality of first incoming signals, respectively, during a second mode different from the first mode, wherein the plurality of first receiving devices are disposed on a second axis different from the first axis;
• and
• a plurality of second receiving devices, coupled to the processing device, for generating a plurality of second digital signals according to a plurality of second incoming signals, respectively, during the second mode, wherein the plurality of second receiving devices are disposed on the first axis;
• wherein, based on the plurality of first digital signals and the plurality of second digital signals, the processing device is further arranged to distinguish a first object and a second object when the RF beam hits the first object and the second object, and the first object and the second object have a same radial speed and are located at a same range, and the processing device comprises:
• a first processing unit, coupled to the plurality of first receiving devices, for performing a first beamforming operation to generate a plurality of first beamforming signals according to the plurality of first digital signals and a first gain matrix;
• and
• a second processing unit, coupled to the plurality of second receiving devices, for performing a second beamforming operation to generate a plurality of second beamforming signals according to the plurality of second digital signals and a second gain matrix;
• wherein the processing device is further arranged to determine an altitude angle of the first object and the second object according to the plurality of first beamforming signals, and to determine a first azimuth angle of the first object and a second azimuth angle of the second object according to the plurality of second beamforming signals.