Textbook in PDF format Direction-finding algorithms, once primarily associated with defense applications, are now gaining traction in the automotive sector and other civilian areas, especially in autonomous vehicles. This shift has been expedited by advanced silicon chips that integrate radar technology into a single system-on-a-chip. However, many skilled professionals struggle to understand these concepts due to the complexity of the existing body of knowledge, which often includes dense mathematical content. To address this challenge, this book clearly explains algorithms featuring precise figures, straightforward descriptions, and executable program code in C++ integrated with MatLAB. The six chapters are structured to build upon one another, offering the necessary background knowledge while comprehensively covering all essential mathematics—creating a self-contained reference guide that practicing engineers can rely on. One significant challenge engineers often face is implementing algorithms in real-world situations. The book includes C code integrated with MatLAB for all the discussed algorithms to assist with this issue. This code can be compiled, executed, and tested, providing users with a practical tool to develop confidence in applying these concepts