The invention relates to the technical field of radio positioning radars, in particular to a millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar.A quasi-optical dielectric lens antenna annular array is arranged; a DSP cyclically scans wave beams to omni-directionally guard against a target possibly collided on a water surface; the radar receives / emits reference signals with full-phase-coherence, and adopts time division time sequence asynchronous control; signals of a water photographic sensor, a ship speed sensor and a global positioningsystem (GPS) sensor access an MCU control time division circuit to generate n-path modulation frequency and waveform millimeter-wave linear phase-lock frequency modulation, and are emitted through anR / T2, an optical circulator, a beam switch, and an antenna array; back waves are subjected to processing control in the DSP and the MCU through the antenna array, the beam switch, the optical circulator, an R / T1, a low noise high frequency amplifier, a fourth-harmonic mixer, an intermediate frequency amplifier, a time division circuit, and a multi-target signal related matched filter; and when theradar meets multiple targets, the radar inhibits false-alarm and determines azimuth angles, distances and relative speeds thereof through the DSP, displays three-dimensional images and identifies a target closest to the ship through a CRT, performs the audible and visual alarm if the distance of the target is smaller than a safety distance, intelligently avoids a barrier or reduces speed or brakes if the distance of the target is approximate to a danger distance, and controls and references an actual condition of the water surface to combine the speed of the ship and GPS data to make a choice, thereby obviously improving the sailing safety of the ship.