An all-solid-state marine radar technology based on a non-rotating cylindrical array antenna is described. Multiple transmit and receive modules are used to form the antenna beam, which allows the beam sequencing, the dwell time in each beam position, the resolution, and the beam shape to be varied in order to make best use of the available energy. Waveforms with a high duty ratio can be used on transmit in order to make efficient use of solid-state power amplifiers. High resolution in both range and Doppler provides high measurement accuracy and superior performance in clutter. Alternate embodiments, including continuous waveform embodiments are disclosed.