Radar signal processing device and radar signal processing method

A radar signal processing device comprising:

• processing circuitry:
• to form a plurality of beams by using a plurality of reception signals;
• to compensate for a phase within a range frequency for the formed plurality of beams;
• to generate an image from each of the beams by applying Fourier transform in an azimuth direction to the plurality of beams whose phases have been compensated;
• to identify a position of a target object on a basis of a sum of adding the generated images from the corresponding plurality of beams;
• to calculate power of each of the beams represented by the image of each of the beams at the position of the target object;
• to compute an antenna gain of each of the beams at the position of the target object;
• to normalize the calculated power of each of the beams and to normalize the computed antenna gain of each of the beams;
• and
• to perform angle measurement on the target object based on an azimuth angle corresponding to an angle in a horizontal direction and an elevation angle corresponding to an angle in a height direction, by performing maximum likelihood estimation of comparing the normalized calculated power of each of the beams with the normalized computed antenna gain of each of the beams at the position of the target object.