A method of generating a radar signal is disclosed. The method includes generating a nonlinear frequency modulation (NLFM) waveform set composed of a plurality of NLFM waveforms, based on a target nonlinearity vector among a plurality of nonlinearity vectors, generating a target polyphase-code set composed of a plurality of polyphase-code sequences, based on an orthogonal phase, determining an orthogonal radar signal set composed of NLFM-based orthogonal radar signals using the NLFM waveform set generated based on the target nonlinearity vector and the target polyphase-code set, and redetermining the orthogonal radar signal set such that orthogonality is maximized by minimizing an objective function composed of an autocorrelation function of each orthogonal radar signal constituting the orthogonal radar signal set and a cross-correlation function between two arbitrary orthogonal radar signals constituting the orthogonal radar signal set.

Position detection and action estimation are performed for each of a plurality of persons by using a sensor that detects a person by emitting radio waves. A person analysis system includes at least one radar device installed in a monitoring area and configured to output observation data including a result of observing the monitoring area by a radar method, and a person analysis device configured to execute, based on the observation data, a first process of detecting a position of each person present in the monitoring area and a second process of estimating an action of the detected person, and display information indicating the position and the action of the person on a predetermined display device.