Receiving device for receiving radio
waves transmitted by a
transmitter and for estimating the
angle of incidence of a
direct wave from the
transmitter, comprising: first to Nth (where N is an integer not less than 2)
wireless receiving devices, each provided corresponding to first to Nth antenna elements forming a group antenna, and performing
frequency conversion and A / D conversion on first to Nth analog signals obtained by receiving the radio
waves each through the first to Nth antenna elements to output first to Nth digital signals; First to Nth
transmission channel estimation units for estimating
transmission channel frequency characteristics based on the first to Nth digital signals, and outputting first to Nth
transmission channel estimation results; a
delay time estimation unit for estimating, by means of a super-resolution process,
delay times of one or more arriving
waves contained in the radio waves, based on a transmission channel
estimation result within the first to Nth transmission channel estimation results; a
delay time grouping unit for comparing the delay times estimated by the
delay time estimation unit with a threshold to determine whether the estimated delay times are shorter than the threshold; first to Nth delayed wave
removal units, each corresponding to the first to Nth transmission channel estimation units, which remove an incoming wave component from the first to Nth transmission channel estimation results according to the
delay time determined by the
delay time grouping unit to be equal to or greater than the threshold, and output the first to Nth transmission channel frequency characteristics with respect to the incoming waves of the delay times determined by the delay time grouping unit to be shorter than the threshold; first to Nth incoming
wave separation units, each provided corresponding to the first to Nth delayed wave
removal units, and each separating incoming wave components contained in the first to Nth transmission channel frequency characteristics from each other to extract first to Nth
direct wave components; and an incidence angle estimation unit for estimating an incidence angle of the
direct wave based on a
phase difference between the first to Nth direct wave components.