A beam forming device, a calibration method and a calibration system using the same are provided. The beam forming device includes a processor, a memory unit, a baseband circuit, and a plurality of antenna modules. The antenna modules each includes multiple antenna elements, and multiple phase shifters and multiple of amplifiers respectively corresponding to the antenna elements. The memory unit stores a reference codebook, a plurality of calibration codebooks and instructing data, each of the plurality of calibration codebooks includes a plurality of records of calibration control data divided by a plurality of target patterns, and a plurality of predetermined phase differences that are different from each other respectively existed between the plurality of calibration codebooks and the reference codebook. The instruction data is used for instructing the beamforming device to use one of the reference codebook and the plurality of calibration codebooks in transmitting and receiving signals.