JPH10332811A - Radar equipment - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To provide a radar device capable of quickly correcting amplitude and phase fluctuations generated in a received signal. A reference monitor signal previously stored in a reference data storage circuit 7151 in each of signal processing units 71A to 7nA corresponding to transmission / reception modules 61 to 6n for receiving reflection echoes from a target from space, The comparison circuit 7152 compares the monitor signal received before the observation with the monitor signal, and obtains a correction weight W1 for correcting a phase variation and an amplitude variation generated in the received signal. Then, the correction weight W1 is multiplied by the beam forming weight W0 obtained by the weight calculator 8 in the correction data generation circuit 7153, and the multiplication result is multiplied by the reception signal in the complex multiplication circuit 714. In this case, phase fluctuation and amplitude fluctuation occurring in the received signal are corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radar device having a function of correcting the amplitude and phase of a received signal.

[0002]

2. Description of the Related Art After converting received signals received by a plurality of antenna elements into digital signals, the signals are weighted and added to form a beam (DBF).
Orming) radar systems have been developed.

A conventional DBF radar device will be described with reference to FIG. The DBF radar device shown in FIG. 5 includes a signal generator 1, a local oscillator signal distributor 2, a transmission signal generator 3, a transmission signal distributor 4, transmission / reception modules 61 to 6n, signal processors 71 to 7n, and a weight calculator 8 , A complex adder 9 and a display 10.

The signal generator 1 includes a signal generator 11 for generating a reference signal and a local signal generator 12 for generating a local signal.
Consists of The reference signal generated by the signal generator 1 is input to the transmission signal generator 3, and the local signal is also input to the transmission signal generator 3 via the local signal distributor 2.

[0005] The transmission signal generator 3 mixes the reference signal and the local oscillation signal to generate a transmission RF signal. Then, the transmission RF signal is distributed by the transmission signal distributor 4 and input to each of the transmission / reception modules 61 to 6n.

As shown in FIG. 2, the transmission / reception module 61 includes an antenna element 611, a transmission / reception switch 612, a low noise amplifier 613, and a high output amplifier 614. Since the transmission / reception modules 62 to 6n have the same configuration as the transmission / reception module 61, only the transmission / reception module 61 will be described here.

The transmission RF signal distributed and output to the transmission / reception module 61 is amplified by a high-output amplifier 614,
The signal is input to the antenna element 611 via a transmission / reception switch 612 such as a circulator, and is radiated to space.

[0008] The antenna element 611 receives a reflected echo from the target from space, and inputs the received signal to the low noise amplifier 613 via the transmission / reception switch 612. The low-noise amplifier 613 amplifies the reception signal, and then
The signal is input to the signal processing unit 71 as an F signal.

Note that, as described above, the transmission / reception module 6
Similarly to the transmission / reception module 61, the transmission RF signals 2 to 6n emit the transmission RF signal to the space, receive the reflected echo from the target from the space, and input the reception RF signal to the corresponding signal processing units 72 to 7n.

The signal processing section 71 comprises a receiving circuit 711, a phase detecting circuit 717, a complex multiplying circuit 714, and a weight buffer circuit 716. The signal processing units 72 to 7n
Has the same configuration as that of the signal processing unit 71, and therefore, only the signal processing unit 71 will be described here.

The receiving circuit 711 receives the received RF signal from the transmission / reception module 61 and receives and distributes the local oscillation signal generated by the local signal generator 12 from the local oscillation signal distributor 3. Then, the receiving circuit 711
The received RF signal is frequency-converted into an intermediate frequency band using the local oscillation signal, and the result of the conversion is input to the phase detection circuit 717 as a received IF signal.

A phase detection circuit 717 performs phase detection on the received IF signal to generate an I / Q quadrature signal. The I / Q quadrature signal is input to the complex multiplication circuit 714.

The complex multiplying circuit 714 inputs the complex weight W0 obtained by the weight calculator 8 after being buffered by the weight buffer circuit 716 in addition to the I / Q quadrature signal. To I /
The Q quadrature signal is multiplied, and the multiplication result is input to the complex adder 9.

As described above, the signal processing units 72 to 7
n, similarly to the signal processing unit 71,
After phase detection of the signal, it is multiplied by a complex weight W0,
The result of the multiplication is input to the complex adder 9. Here, the complex weight W0 is a generic term for "W0", but is an independent complex value in each of the signal processing units 71 to 7n.

The weight calculator 8 receives an instruction of a beam forming direction from a controller or an operator (not shown), and receives a complex weight W for forming a beam in the indicated direction.
0 is obtained and input to the signal processing units 71 to 7n.

The complex adder 9 includes signal processing units 71 to 7n
Are multiplied, and these multiplication results are subjected to complex addition and input to the display 10. The display 10 displays the addition result of the complex adder 9 and displays the observation result.

Incidentally, in the conventional radar apparatus, as described above, the plurality of receiving systems including the transmitting / receiving modules 61 to 6n and the signal processing units 71 to 7n include the low noise amplifier 61.
3 and a configuration for generating heat, including the receiving circuit 711.

[0018] Therefore, not only does the temperature of each receiving system fluctuate due to the heat generation and the like of the above-described configuration, and the amplitude and phase of the received signal fluctuate, but also the receiving system receives signals due to the temperature difference between the receiving systems. There is a problem that an amplitude error and a phase error occur in the signal.

The relative positional relationship between the antenna element 611 and a plurality of other antenna elements is changed by not only the temperature change inside the radar apparatus but also the pressure and vibration applied from the outside, and the reception is changed. There is a problem that the amplitude and phase of the signal fluctuate.

[0020]

In a conventional radar apparatus, the amplitude and phase of a received signal fluctuate due to temperature fluctuations in each receiving system, temperature differences between the receiving systems, and pressure and vibration applied from the outside. There is a problem that a relative amplitude error and a phase error occur in the received signal between the receiving systems.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problem. The present invention quickly corrects amplitude and phase fluctuations generated in a received signal, and also detects relative amplitude errors between received signals of a plurality of receiving systems. It is an object of the present invention to provide a radar apparatus capable of correcting a phase error.

[0022]

In order to achieve the above object, a radar device according to the present invention receives reflected echoes from a target by a plurality of receiving systems, and detects a target based on the plurality of reception results. In the radar apparatus for detecting, the plurality of receiving systems each receive an antenna radiated in space and output the received signal as a received signal; phase detection means for phase-detecting a received signal from the antenna; Reference data storage means for storing the reference detection data, and when the antenna unit receives a predetermined monitor signal, based on the phase detection result of the received signal, based on the reference detection data stored in the reference data storage means, A fluctuation component detection unit that detects at least one of a phase fluctuation component and an amplitude fluctuation component included in the received signal; and a phase detection result of the phase detection unit. And to constitute with and a variation component correction means for correcting the detected variation component by the fluctuation component detection means.

In the above-structured radar apparatus, in each receiving system, the phase fluctuation component and the amplitude included in the received signal are determined based on the phase detection result of the received monitor signal and the reference detection data stored in the reference data storage means. Of the fluctuation components,
At least one fluctuating component is detected. Then, the fluctuation component is corrected for the phase detection result of the received signal.

Therefore, according to the radar apparatus having the above configuration, the fluctuation component of the received signal can be corrected, and the fluctuation component of the received signal is corrected in each receiving system. Can be performed.

Further, since the fluctuation component of the received signal is corrected based on the reference detection data set in advance for each receiving system, a relative amplitude error generated between the received signals of the plurality of receiving systems. And phase errors can be corrected.

In the radar apparatus according to the present invention, a plurality of receiving systems receive reflected echoes from a target and detect the target based on the plurality of reception results. An antenna unit that receives a reflected echo from a target from space and outputs it as a received signal, a phase detection unit that performs phase detection of a received signal from the antenna unit, a temperature in the receiving system, and a vibration applied to the receiving system. Sensor means for detecting at least one of pressure and pressure, and data for correcting at least one of a phase variation component and an amplitude variation component included in a received signal based on data detected by the sensor means. Correction data detecting means for determining the phase detection result and the phase detection result based on the data detected by the correction data detecting means. And to constitute with and a variation component correction means for performing correction.

[0027] In the radar apparatus having the above-described configuration, in each receiving system, based on the data detected by the sensor means,
Data for correcting at least one of the phase fluctuation component and the amplitude fluctuation component included in the received signal is obtained, and the fluctuation component is corrected for the phase detection result of the received signal. .

Therefore, according to the radar apparatus having the above configuration, the fluctuation component of the received signal can be corrected, and the fluctuation component of the received signal is corrected in each receiving system. Can be performed.

Further, in the present invention, the correction data detecting means includes a correction data storing means for storing data for correcting a fluctuation component included in the received signal in association with data detected in advance by the sensor means, Correction data reading means for reading data for correcting a fluctuation component corresponding to the data detected by the means from the correction data storage means.

According to the present invention, the fluctuation component of the received signal is corrected for each receiving system based on the correction data stored in advance in the correction data storage means. The generated relative amplitude error and phase error can be corrected.

[0031]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a DBF radar apparatus according to one embodiment of the present invention includes a signal generator 1, a local oscillator signal distributor 2, a transmission signal generator 31, a transmission signal distributor 4, a monitor antenna 5, a transmission / reception module 6,
1 to 6n, signal processing units 71A to 7nA, a weight calculator 8, a complex adder 9, and a display 10. In FIG. 1, parts having the same configuration as those of the conventional radar apparatus shown in FIG. 5 are denoted by the same reference numerals, and different parts will be mainly described here.

The transmission signal generator 31 receives the reference signal generated by the signal generator 11 of the signal generator 1 and the local signal generated by the local signal generator 12. It is input via the distributor 2.

Then, the transmission signal generator 31 generates the transmission RF signal by mixing the reference signal and the local oscillation signal, and transmits the transmission / reception module 61 through the transmission signal distributor 4.
~ 6n.

The transmission signal generator 31 generates a monitor RF signal by mixing the reference signal and the local oscillation signal in response to a monitor instruction from a control unit (not shown), and inputs the monitor RF signal to the monitor antenna 5.

The monitor antenna 5 includes an antenna element 611
And the like, are provided near the antenna elements of the transmission / reception modules 61 to 6n, and radiate the monitor RF signal to the space to supply space to the antenna element.

The transmission / reception modules 61 to 6n radiate the distributed transmission RF signals to the space. The transmission / reception modules 61 to 6n receive the reflected echo from the target and the monitor RF signal from the monitor antenna 5 from space, and input the received RF signals to the corresponding signal processing units 71A to 7nA, respectively.

The signal processing section 71A comprises a receiving circuit 711, a phase detecting circuit 712, a signal switching circuit 713, a complex multiplying circuit 714, a correction data generating section 715, and a weight buffer circuit 716. The signal processing units 72A to 7nA
Has the same configuration as the signal processing unit 71A, and therefore, only the signal processing unit 71A will be described here.

The receiving circuit 711 converts the received RF signal from the transmission / reception module 61 into an intermediate frequency band using the local oscillation signal distributed and supplied from the local oscillation signal distributor 2 as an IF signal. The signal is input to the phase detection circuit 712.

The phase detection circuit 712 detects the phase of the received IF signal to generate an I / Q quadrature signal. For example, as shown in FIG. 3, an A / D converter 7121 and a digital I / Q detection circuit 7122 Direct I composed of
This is a phase detection circuit of the F sampling type.

In the phase detection circuit 712, the received IF signal is converted by the A / D converter 7121 into the received IF signal.
After being sampled at a period four times the center frequency of the signal and converted into a digital signal, the digital I / Q detection circuit 7122 performs I / Q quadrature detection. By performing resampling, orthogonal signals (I signal and Q signal) are formed and output as the I / Q orthogonal signal.

The I / Q quadrature signal obtained in this manner is selectively input to a complex multiplication circuit 714 or a correction data generation unit 715 via a signal switching circuit 713.
The signal switching circuit 713 is switched and controlled by the control unit (not shown), and among the I / Q quadrature signals, an I / Q quadrature signal obtained when a target is observed is a received signal S ′ (t). Is input to the complex multiplication circuit 714.
On the other hand, the I / Q quadrature signal obtained by receiving the monitor RF signal is used as the monitor signal M1 as the correction data generator 71.
Enter 5

The correction data generation section 715 includes a reference data storage circuit 7151, a comparison circuit 7152, and a correction data generation circuit 7153. Reference data storage circuit 715
1 is, for example, when the monitor RF signal is received by operating the signal processing unit 71A under a stable condition where the temperature is at a predetermined value and there is no influence of pressure fluctuation or vibration from the outside,
The I / Q quadrature signal obtained from the phase detection circuit 712 is stored as a reference monitor signal M0.

The comparison circuit 7152 includes a signal switching circuit 713
A monitor signal M1 from the memory and a reference data storage circuit 7151
And a correction weight W1 for correcting the phase and amplitude of the I / Q quadrature signal from the comparison result.
Input to 53.

The correction data generation circuit 7153 calculates the beam forming complex weight W calculated by the weight calculator 8.
A complex operation is performed between 0 and the correction weight W1 obtained by the comparison circuit 7152, and the operation result is input to the complex multiplication circuit 714 as a beam forming / correction weight W2.

The complex multiplication circuit 714 performs the beam forming /
The I / Q quadrature signal (S ′ (t)) is multiplied by the correction weight W2, and the multiplication result is input to the complex adder 9. In addition,
The signal processing units 71A to 7nA also include the signal processing unit 71A.
Similarly to A, the correction weight W1 is obtained based on the reference monitor signal M0 stored in advance. Then, the correction weight W1 and the complex weight W0 for beam formation are used.
Are multiplied by the I / Q quadrature signal based on the beamforming / correction weight W2 based on the above, and the multiplication result is input to the complex adder 9.

The complex adder 9 includes signal processing sections 71A to 71A
An multiplication result of An is input, and the multiplication result is subjected to complex addition and input to the display 10. The display 10 displays the addition result of the complex adder 9 and displays the observation result.

Next, the operation of correcting the phase and amplitude of the received signal of the radar apparatus having the above configuration will be described. In the following description, the correction operation of the signal processing unit 71A will be mainly described, but it is assumed that the same correction operation is performed in the signal processing units 72A to 7An.

First, prior to the observation of the target, the monitor R is transmitted from the monitor antenna 5 to the transmitting / receiving modules 61 to 6n.
The F signal is transmitted (spatial power supply). Each of the transmission / reception modules 61 to 6n receives the monitor RF signal, and inputs the received monitor RF signal to the corresponding signal processing unit 71A to 7An.

The monitor RF signal received by the transmission / reception module 61 is frequency-converted by the reception circuit 711, phase-detected by the phase detection circuit 712, and input to the comparison circuit 7152 via the signal switching circuit 713. You.

On the other hand, reference monitor signal M0 is input from reference data storage circuit 7151 to comparison circuit 7152. Here, A0 and A1 are amplitudes, φ0 and φ1 are phases, and the reference monitor signal M0 and the monitor signal M1 are defined by the following equations.

[0051]

(Equation 1)

When M0 is input, the comparison circuit 7152
Calculates a correction weight W1 represented by the following equation based on the reference monitor signal M0 and the monitor signal M1, and inputs the correction weight W1 to the correction data generation circuit 7153. Note that K is A1 / A0 in amplitude variation, and Δφ is φ1-φ0 in phase variation.

[0053]

(Equation 2)

The correction data generation circuit 7153 calculates the complex weight W0 for beam forming and the correction weight W1,
A beam forming / correction weight W2 represented by the following equation is obtained,
The signal is input to the complex multiplication circuit 714.

[0055]

(Equation 3)

Next, the signal received from the space for observation of the target passes through the same path as the monitor RF signal, passes through the signal switching circuit 713, and becomes S ′ (t) as a complex multiplication circuit 7
14 is input.

Here, the same observation state as the data stored in the reference data storage circuit 7151 (a stable state in which the signal processing unit 71A is at a predetermined temperature and the antenna element 611 is not affected by pressure fluctuations and vibrations from the outside) ) Is S (t), and the ideal received signal is S ′.
Assuming that (t) deviates from the above observation state and the amplitude fluctuation amount K and the phase fluctuation amount Δφ occur, S (t) and S ′ (t) are expressed by the following equations.

[0058]

(Equation 4)

In the complex multiplication circuit 714, the reception signal S '
(T) is multiplied by the beam forming / correction weight W2 to obtain a corrected received signal Sh (t).

[0060]

(Equation 5)

The reception signal Sh (t) corrected in this way.
Makes the ideal received signal equal to S (t). In addition,
Here, for simplicity, the weight W0 for beam formation is set to "1".

As described above, in the radar apparatus having the above configuration, the signal processing units 71A to 7nA corresponding to the transmission / reception modules 61 to 6n respectively receive the reference monitor signal M0 stored in advance and the reference monitor signal M0 before observation. The correction weight W1 is obtained by comparing the correction weight W1 with the monitor signal M1. Then, the correction weight is multiplied by the received signal together with the beam forming weight W0 to perform the correction.

Therefore, according to the radar apparatus having the above configuration, the transmitting / receiving modules 61 to 6n and the signal processing units 71A to 71n
Even if a different temperature change occurs every 7 nA, or a variation in amplitude or phase occurs in the received signal due to pressure or vibration applied from the outside, these variations can be corrected for each reception path.

Further, since the above correction is performed based on a preset reference monitor signal, the transmission / reception modules 61 to 6n or the signal processing units 71A to 7n
Correction can also be made for the relative error occurring between A. Further, since the above-described correction is performed by each of the signal processing units 71A to 7nA, the above-described correction processing is quickly performed.

The present invention is not limited to the above embodiment. For example, in the above embodiment, the configuration is such that the received signal is corrected in accordance with an instruction from the control unit.
Instead, an environmental sensor for detecting, for example, temperature, vibration, pressure, or the like may be provided in each of the signal processing units 71A to 7nA, and a fluctuation component or the like generated in the received signal may be automatically corrected according to the detection result of the sensor. Good.

FIG. 4 shows the signal processing unit 7 of the radar apparatus shown in FIG.
Signal processing units 71B to 7n provided in place of 1A to 7nA
4 shows the configuration of B. The signal processing unit 71B includes a reception circuit 711, a phase detection circuit 712, a complex multiplication circuit 71
4, weight buffer circuit 716, correction data generation unit 7
18 Since the signal processing units 72B to 7nB have the same configuration as the signal processing unit 71B, only the signal processing unit 71B will be described here.

The reception RF signal from the transmission / reception module 61 is frequency-converted to an intermediate frequency band by a reception circuit 711, and then phase-detected by a phase detection circuit 712, and the detection result (I / Q quadrature signal) is obtained. The signal is input to the complex multiplication circuit 714.

The correction data generator 718 is provided for the environment sensor 7.
181, a correction data storage circuit 7182, and a correction data generation circuit 7183. The environment sensor 7181
A sensor that detects the temperature of the transmission / reception module 61 and the signal processing unit 71B, the applied pressure (atmospheric pressure, etc.), vibration, and the like is input to the correction data storage circuit 7182.

A correction data storage circuit 7182 is a circuit for storing weight data W3 for correcting the amplitude and phase of a received signal that changes according to the magnitude of temperature, pressure, vibration, etc., and is detected by the environment sensor 7181. Read out the correction weight W3 according to the magnitude of temperature, pressure, vibration, etc.,
This is input to the correction data generation circuit 7183.

The correction data generation circuit 7183 calculates the beam forming complex weight W obtained by the weight calculator 8.
A complex operation is performed between 0 and the correction weight W3 input from the correction data storage circuit 7182, and the operation result is input to the complex multiplication circuit 714 as a beam forming / correction weight W2. The complex multiplying circuit 714 multiplies the I / Q quadrature signal by the beam forming / correction weight W2 to obtain the reception signal Sh
(T) is obtained.

Even in the DBF radar apparatus having such a configuration, even if the amplitude and phase of the received signal vary from one receiving path to another, it is possible to quickly correct the above-mentioned variation. Can be corrected.

Further, in the above-described embodiment, the configuration in which the transmission / reception modules 61 to 6n each receive the reflected echo with one antenna element has been described. However, the present invention is not limited to this. And a phase shifter corresponding thereto to obtain a received RF signal.

Further, in the above embodiment, the monitor RF
The signal is input to each of the transmission / reception modules 61 to 6n by spatial power supply. However, the present invention is not limited to this, and a line may be input to the subsequent stage of each antenna through a wire. It goes without saying that various modifications can be made without departing from the spirit of the present invention.

[0074]

As described above, according to the present invention, in each receiving system, the received signal is included in the received signal based on the phase detection result of the received monitor signal and the reference detection data stored in the reference data storage means. At least one of the phase fluctuation component and the amplitude fluctuation component is detected, and the fluctuation component is corrected for the phase detection result of the received signal.

Therefore, according to the present invention, it is possible to quickly correct the fluctuation component of the received signal of each receiving system, and furthermore, it is possible to relatively correct the relative amplitude error and phase error generated between the received signals of a plurality of receiving systems. Can be provided.

According to the present invention, in each receiving system,
Based on the data detected by the sensor means, data for correcting at least one of the phase fluctuation component and the amplitude fluctuation component included in the received signal is obtained. Is corrected. Therefore, according to the present invention, it is possible to provide a radar device capable of quickly correcting a fluctuation component of a reception signal of each reception system.

[Brief description of the drawings]

FIG. 1 is a circuit block diagram showing a configuration of a first embodiment of a DBF radar apparatus according to the present invention.

FIG. 2 is a circuit block diagram showing a configuration of a transmission / reception module of the DBF radar device shown in FIGS. 1 and 5;

FIG. 3 is a circuit block diagram showing a configuration of a phase detection circuit of the DBF radar device shown in FIG.

4 is a circuit block diagram showing another configuration example of the signal processing unit of the DBF radar device shown in FIG.

FIG. 5 is a circuit block diagram showing a configuration of a conventional DBF radar device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Signal generation part 11 ... Signal generator 12 ... Local signal generator 2 ... Local oscillation signal distributor 31 ... Transmission signal generator 4 ... Transmission signal distributor 5 ... Monitor antenna 61-6n ... Transceiving module 611 ... Antenna element 612 ... Transceiver switch 613 ... Low noise amplifier 614 ... High power amplifier 71A-7nA, 71B-7nB ... Signal processing unit 711 ... Reception circuit 712 ... Phase detection circuit 7121 ... A / D converter 7122 ... Digital I / Q detection circuit 713 ... Signal switching circuit 714 ... Complex multiplication circuit 715,718 ... Correction data generator 7151 ... Reference data storage circuit 7152 ... Comparator circuit 7153,718 ... Correction data generation circuit 716 ... Weight buffer circuit 7181 ... Environment sensor 7182 ... Correction data storage circuit 8 ... Weight calculator 9 ... Complex adder 10 ... Display

Claims (6)

[Claims] 1. A radar apparatus for receiving reflected echoes from a target by a plurality of receiving systems and detecting a target based on the plurality of reception results, wherein each of the plurality of receiving systems converts a signal radiated into space. An antenna unit that receives and outputs a received signal as a received signal; a phase detection unit that performs phase detection of a reception signal from the antenna unit; a reference data storage unit that stores predetermined reference detection data; Is received,
Based on a phase detection result of the received signal and reference detection data stored in the reference data storage unit, at least one of a phase variation component and an amplitude variation component included in the reception signal is detected. A radar apparatus comprising: a fluctuation component detection unit; and a fluctuation component correction unit that corrects a fluctuation component detected by the fluctuation component detection unit with respect to a phase detection result of the phase detection unit. 2. The radar apparatus according to claim 1, further comprising a monitor signal generating unit that generates the predetermined monitor signal and inputs the monitor signal to the antenna unit. 3. The radar apparatus according to claim 2, wherein said monitor signal generating means generates said predetermined monitor signal and spatially feeds said monitor signal to said antenna unit. 4. A radar apparatus for receiving reflected echoes from a target by a plurality of receiving systems and detecting the target based on the plurality of reception results, wherein each of the plurality of receiving systems spatially reflects the reflected echoes from the target. An antenna unit for receiving a signal from the antenna unit and outputting the received signal as a received signal; a phase detection unit for phase-detecting the received signal from the antenna unit; at least one of a temperature in the receiving system, and vibration and pressure applied to the receiving system A correction data detection means for obtaining data for correcting at least one of the phase fluctuation component and the amplitude fluctuation component included in the received signal based on the data detected by the sensor means. A variable component for performing a correction based on the data detected by the correction data detecting means on the phase detection result of the phase detecting means. A radar apparatus comprising: a minute correction unit. 5. The correction data detecting means according to data detected in advance by the sensor means,
Correction data storage means for storing data for correcting a fluctuation component included in the received signal; correction data reading means for reading data for correcting a fluctuation component corresponding to data detected by the sensor means from the correction data storage means; 5. The method according to claim 4, further comprising:
A radar device according to item 1. 6. A beam forming means for performing a process for performing beam forming on a phase detection result of each received signal obtained from the plurality of receiving systems. The radar device according to any one of the above.