DESCRIZIONE
A Continuous Transmission Frequency Modulated (CTFM) detection apparatus is provided. The detection apparatus includes a projector (2), a sensor (3), a motion mechanism (4), a reception processor (11), and a beamforming processor (18). The projector (2) transmits a frequency modulated transmission wave. The sensor (3) includes a plurality of receiving elements (3a), each receiving element (3a) of the plurality of receiving elements (3a) receiving a reflected wave, the reflected wave comprising a reflection of the transmission wave. The motion mechanism (4) sets the sensor (3) in motion. The reception processor (11) generates a plurality of beat signals, each beat signal of the plurality of beat signals corresponding to a receiving element (3a) from the plurality of receiving elements (3a) based at least in part on the transmission wave transmitted by the projector (2) and the reflected wave received by the receiving element (3a), wherein at least some of the beat signals from the plurality of beat signals corresponds to a different receiving element (3a) from the plurality of receiving elements (3a). The beamforming processor (18) performs a beamforming process based on each beat signal generated by the reception processor (11). [Image Omitted]