A method for four-dimensional radar tracking includes transmitting a first probe signal; receiving a first reflected probe signal at first and second radar arrays of the radar system; detecting a tracking target; calculating a target range; calculating a target range rate; performing ambiguous angle calculations for first and second target angles; performing unambiguous angle calculations for the first and second target angles; and calculating a four-dimensional tracking solution, including position and range-rate, from the target range, target range-rate, ambiguous angle calculations, and unambiguous angle calculations.