A method in a time switched multiple input and multiple output (MIMO) radar system comprising, receiving (610) from an antenna array a plurality of data points representing a radar signal reflected from plurality of objects, forming (620) a first set of beams from the plurality of data points, wherein the first set of beams are making a first set angles with a normal to the antenna array, detecting a set of objects (410A-L) from the first set of beams, determining (630) a set of Doppler frequencies of the set of objects, computing (650) a self-velocity representing a velocity of the antenna array from the set of Doppler frequencies and the first set of angles, and correcting (660) the plurality of data points using the self-velocity and a second set of angles to generate plurality of corrected data points.