A radio frequency (RF) printed circuit board (PCB) including a ground plane, a microstrip transmission line, a patch antenna element, a waveguide, and a dielectric lens. The RF PCB includes a first substrate having a top surface on which the patch antenna element is disposed, the patch antenna element including a slot aperture. The microstrip transmission line is disposed between the first substrate and a second substrate, and is configured to be electromagnetically coupled to the patch antenna element through the slot aperture. The ground plane is disposed on a third substrate and is electromagnetically coupled to the microstrip transmission line. The waveguide includes an aperture attached to the top surface and encloses the patch antenna element. The waveguide is configured to be electromagnetically coupled to the patch antenna element. The dielectric lens is disposed on the patch antenna element and extends into the aperture of the waveguide.