Orthogonal phase modulation for detection and communication in radar

A method of orthogonal modulation of radar waves of a phase-modulated continuous wave radar system. The method includes selecting an equidistant bi-phased or multi-phased phase-modulation sequence, phase-modulating the continuous radar wave, and transmitting the orthogonal phase-modulated continuous radar wave towards a scene. The method includes generating a detection sequence (s) by applying an outer coding (H) to the phase-modulation sequence, selecting a communication range (C) in the complex number plane, based on the selected phase-modulation, generating a communication sequence (c) having a plurality of sequence members, mapping the communication sequence (c) into the communication range (C) by applying an injective mapping function (Γ) to the sequence members, and calculating a numerical product of members of the detection sequence (s) with members of an image of the mapped communication sequence (c). Phase-modulating the continuous wave of the radar system is carried out according to the calculated numerical products.