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In this paper, a new type of multibeam antenna based on the principle of modified R-KR lens and substrate integrated waveguide (SIW) technology was proposed. It consists of a SIW modified R-KR lens as the beam-forming network, a SIW longitudinal slot array antenna and a SIW phase shift network in between. A prototype with 15 input ports and a SIW slot array antenna was implemented at 30 GHz for generating 15 beams to cover the angle of (-59deg, 59deg) with 3dB beam width. The gains of the beams are distributed from 17.44dB to 20.2dB. This kind of multibeam antenna takes the advantages of low profile, low cost and high performance etc. and would be applied in the mobile satellite communication with beam switching and beam diversity technology.