A low range altimeter, LRA, comprising: a transmitter including a signal generator, a first node, and a power amplifier, the signal generator configured to produce a frequency modulated continuous wave signal, the first node coupled between the signal generator and the power amplifier; a receiver including a low-noise amplifier, a mixer, and an analog-to-digital converter, the mixer coupled between the low-noise amplifier, the first node, and the analog-to-digital converter; at least one antenna, the transmitter configured to transmit a first signal via the at least one antenna, the receiver configured to receive a second signal via the at least one antenna, the first signal being a transmitted signal and the second signal being a received signal; an active leakage cancellation circuit including a digital-to-analog converter, a variable attenuator, a phase shifter, and an additional amplifier, the transmitter exiting to the variable attenuator of the active leakage cancellation circuit in front of the power amplifier by which the active leakage cancellation circuit is configured to receive a portion of the transmitted signal from the transmitter, the active leakage cancellation circuit configured to adjust a gain and a phase of the portion of the transmitted signal to generate a cancellation signal by the variable attenuator, the phase shifter, and the additional amplifier, the additional amplifier provided after the variable attenuator and the phase shifter, the active leakage cancellation circuit entering the receiver in front of the low noise amplifier by which the active leakage cancellation circuit is configured to inject the cancellation signal into the receiver to reduce leakage observed in the received signal; and a microcontroller unit, MCU, the MCU configured to: measure a static leakage reading from the analog-to-digital converter; determine one or more gain adjustments for the variable attenuator and one or more phase adjustments for the phase shifter based on the static leakage reading; and cause the variable attenuator to adjust the gain and cause the phase shifter to adjust the phase for generating the cancellation signal. a transmitter including a signal generator, a first node, and a power amplifier, the signal generator configured to produce a frequency modulated continuous wave signal, the first node coupled between the signal generator and the power amplifier; a receiver including a low-noise amplifier, a mixer, and an analog-to-digital converter, the mixer coupled between the low-noise amplifier, the first node, and the analog-to-digital converter; at least one antenna, the transmitter configured to transmit a first signal via the at least one antenna, the receiver configured to receive a second signal via the at least one antenna, the first signal being a transmitted signal and the second signal being a received signal; an active leakage cancellation circuit including a digital-to-analog converter, a variable attenuator, a phase shifter, and an additional amplifier, the transmitter exiting to the variable attenuator of the active leakage cancellation circuit in front of the power amplifier by which the active leakage cancellation circuit is configured to receive a portion of the transmitted signal from the transmitter, the active leakage cancellation circuit configured to adjust a gain and a phase of the portion of the transmitted signal to generate a cancellation signal by the variable attenuator, the phase shifter, and the additional amplifier, the additional amplifier provided after the variable attenuator and the phase shifter, the active leakage cancellation circuit entering the receiver in front of the low noise amplifier by which the active leakage cancellation circuit is configured to inject the cancellation signal into the receiver to reduce leakage observed in the received signal; and a microcontroller unit, MCU, the MCU configured to: measure a static leakage reading from the analog-to-digital converter; determine one or more gain adjustments for the variable attenuator and one or more phase adjustments for the phase shifter based on the static leakage reading; and cause the variable attenuator to adjust the gain and cause the phase shifter to adjust the phase for generating the cancellation signal. measure a static leakage reading from the analog-to-digital converter; determine one or more gain adjustments for the variable attenuator and one or more phase adjustments for the phase shifter based on the static leakage reading; and cause the variable attenuator to adjust the gain and cause the phase shifter to adjust the phase for generating the cancellation signal.