Detection apparatus, underwater detection apparatus and radar apparatus

A Continuous Transmission Frequency Modulated (CTFM) detection apparatus, comprising:

• a projector configured to transmit a frequency modulated transmission wave at a given transmission period;
• a sensor configured to receive a reflected wave, the reflected wave comprising a reflection of the transmission wave on a target object;
• and
• a hardware processor programmed to at least:
• generate a beat signal based at least in part on the transmission wave and the reflected wave,
• extract a plurality of extracted beat signals from the beat signal, each extracted beat signal from the plurality of extracted beat signals being extracted by applying a different gate interval of a plurality of gate intervals to the beat signal, wherein the gate interval for at least some of the extracted beat signals are set at different timings,
• extract a processing signal from the beat signal, wherein the processing signal is selected from the plurality of extracted beat signals, and
• generate information related to the target object based on the processing signal.