To combine arrival angles of a vertical plane and an azimuth plane and delay time to estimate them simultaneously.

A signal that has been PSK-modulated by PN code sequence is transmitted from a transmitter 1. This signal is received by each element of flat array antennas 15 of a receiver 2 to be converted by Fourier transform and is normalized with the same spectrum as the signal outputted by the transmitter 1 to calculate a co-variance-covariance matrix. Arrival vertical angles and an azimuth angle of an incident signal are combined to be estimated by the 2D-MUSIC method or the 2D-Unitary ESPRIT method. One incident signal that has the estimated arrival vertical angles and the azimuth angle is stored. A weight to suppress the other incident signals is calculated and the co-variance- covariance matrix is calculated after a sum of products with a group of normalized signals is calculated. Delay time and relative electric power are estimated by the MUSIC method and the ESPRIT method.