A millimetre wave three dimensional holographic scan imaging apparatus, comprising: a first millimetre wave transceiver module comprising a first millimetre wave transceiver antenna array for transmitting and receiving a first millimetre wave signal; a second millimetre wave transceiver module comprising a second millimetre wave transceiver antenna array for transmitting and receiving a second millimetre wave signal; a first guide rail device, to which the first millimetre wave transceiver module is connected in slidable form, such that the first millimetre wave transceiver module is moveable along the first guide rail device to perform a first scan on an object to be inspected; a second guide rail device, to which the second millimetre wave transceiver module is connected in slidable form, such that the second millimetre wave transceiver module is moveable along the second guide rail device to perform a second scan on the object to be inspected; a driver configured to drive the first millimetre wave transceiver module to move along the first guide rail device and/or to drive the second millimetre wave transceiver module to move along the second guide rail device; and a constrainer configured to constrain kinematic relation between the first millimetre wave transceiver module and the second millimetre wave transceiver module such that the first millimetre wave transceiver module and the second millimetre wave transceiver module only move in directions opposed to each other, wherein the first millimetre wave transceiver module and/or the second millimetre wave transceiver module move in a vertical plane; characterised in that: the driver comprises a first driver configured to drive the first millimetre wave transceiver module directly, the first millimetre wave transceiver module being connected to the first guide rail device by the first driver, and/or the driver comprises a second driver configured to drive the second millimetre wave transceiver module directly, the second millimetre wave transceiver module being connected to the second guide rail device by the second driver, and the first millimetre wave signal and the second millimetre wave signal have different frequencies in at least 50% of an entire period of scanning the object to be inspected by both the first millimetre wave transceiver module and the second millimetre wave transceiver module. a first millimetre wave transceiver module comprising a first millimetre wave transceiver antenna array for transmitting and receiving a first millimetre wave signal; a second millimetre wave transceiver module comprising a second millimetre wave transceiver antenna array for transmitting and receiving a second millimetre wave signal; a first guide rail device, to which the first millimetre wave transceiver module is connected in slidable form, such that the first millimetre wave transceiver module is moveable along the first guide rail device to perform a first scan on an object to be inspected; a second guide rail device, to which the second millimetre wave transceiver module is connected in slidable form, such that the second millimetre wave transceiver module is moveable along the second guide rail device to perform a second scan on the object to be inspected; a driver configured to drive the first millimetre wave transceiver module to move along the first guide rail device and/or to drive the second millimetre wave transceiver module to move along the second guide rail device; and a constrainer configured to constrain kinematic relation between the first millimetre wave transceiver module and the second millimetre wave transceiver module such that the first millimetre wave transceiver module and the second millimetre wave transceiver module only move in directions opposed to each other, wherein the first millimetre wave transceiver module and/or the second millimetre wave transceiver module move in a vertical plane; characterised in that: the driver comprises a first driver configured to drive the first millimetre wave transceiver module directly, the first millimetre wave transceiver module being connected to the first guide rail device by the first driver, and/or the driver comprises a second driver configured to drive the second millimetre wave transceiver module directly, the second millimetre wave transceiver module being connected to the second guide rail device by the second driver, and the first millimetre wave signal and the second millimetre wave signal have different frequencies in at least 50% of an entire period of scanning the object to be inspected by both the first millimetre wave transceiver module and the second millimetre wave transceiver module.