The present invention includes: a transmitter/receiver 20 that transmits an FMCW modulated sweep signal at least twice; an FFT unit 32 that performs Fast Fourier Transform on the at least two sweep signals received in response to the transmission from the transmitter/receiver; and an MRAV processor 35a that calculates ranges and velocities of multiple targets by calculating beat frequencies corresponding to at least two sweeps by the transmitter/receiver based on the at least two sweep signals obtained by the Fourier Transform performed by the FFT unit, calculating velocities based on a frequency difference and a time difference of the calculated beat frequencies, and calculating ranges based on the calculated velocities and beat frequencies.
