A substrate integrated waveguide (SIW) slot full-array antenna fabricated employing printed circuit board technology. The SIW slot full-array antenna using either single or multi-layer structures greatly reduces the overall height and physical steering requirements of a mobile antenna when compared to a conventional metallic waveguide slot array antenna. The SIW slot full-array antenna is fabricated using a low-loss dielectric substrate with top and bottom metal plating. An array of radiating cross-slots is etched in to the top plating to produce circular polarization at a selected tilt-angle. Lines of spaced-apart, metal-lined vias form the sidewalls of the waveguides and feeding network. In multi-layer structures, the adjoining layers are coupled by transverse slots at the interface of the two layers.