A radar apparatus includes a transmitting antenna and a receiving antenna that has a plurality of antenna elements, and switches the plurality of antenna elements in synchronization with a modulation period to acquire receiving signals. At this time, the antenna elements are switched in accordance with a combination of a first sub-phase and a second sub-phase in which the antenna elements are sequentially switched in opposite directions to thereby acquire the receiving signals. The radar apparatus calculates an azimuth sine value sin θ1 from the acquired receiving signals of the first sub-phase and calculates an azimuth sine value sin θ2 from the receiving signals of the second sub-phase. Next, the radar apparatus calculates an actual azimuth θ through an averaging process of these azimuth sine values sin θ1 and sin θ2.