Patent ID: 7692572

Claim:
A detecting and ranging apparatus, comprising: a first relative distance measurement unit to receive a reflected wave of a transmitted electromagnetic wave by an object to be detected, and thereby measuring a relative distance to the object to be detected; a second relative distance measurement unit, arranged at a position different from a position of the first relative distance measurement unit, to receive a reflected wave of a transmitted electromagnetic wave by an object to be detected, and thereby measuring a relative distance to the object to be detected; and an actual velocity vector calculation unit to calculate an actual velocity vector of the object to be detected moving with an angle made in a direction from the first relative distance measurement unit to the object to be detected or a direction from the second relative distance measurement unit to the object to be detected based on a first relative velocity vector calculated using time differential of the relative distance measured by the first relative distance measurement unit; a second relative velocity vector calculated using time differential of the relative distance measured by the second relative distance measurement unit; and a circle which passes through a first point representing initial points of the first relative velocity vector and the second relative velocity vector, a second point representing a terminal point of the first relative velocity vector, and a third point representing a terminal point of the second relative velocity vector; wherein the actual velocity vector calculation unit calculates the actual velocity vector of the object to be detected as a vector whose initial point is the first point and magnitude is the diameter of the circle.