A radar wherein, in accordance with a peak frequency f1[t-nT] of a first projecting portion at a predetermined timing t-nT, a center frequency fr[t] of peak frequencies of first and second projecting portions at a current measurement timing t is predicted, and f1[t] and f2[t] in which (f1[t]+f2[t])/2 approximates the predicted fr[t] is extracted as a pair candidate. In addition, f1[t] and f2[t] in which Doppler shift frequency is substantially equal to a Doppler shift frequency calculated from the peak frequency f1[t-nT] of the first projecting portion and the peak frequency f2[t-nT] of the second projecting portion are selected.
A transmitter for transmitting signals to targets and a receiver for receiving signals reflected from targets are included. The transmitter outputs CW signals for detecting direction and velocity of the target. The receiver performs: a function of receiving signals reflected from targets with a plurality of receiving antennas at the same time as transmitting from the transmitter, and performing spectral analysis with respect to receiving signals to thereby classify them by velocity component; a function of correlating signals of the receiving antenna systems; a function of integrating the signals correlation-processed; and a function of obtaining phase fronts of signals made incident on an antenna face from the phase differences of signals between receiving antennas, and performing two-dimensional FFT to the outputs to thereby measure the direction and velocity of the target.
