CA2266222C - Timing and control and data acquisition for a multitransducer ground penetrating radar system - Google Patents

Abstract

An improved multi transducer for a ground penetrating radar system (GPR) having a complete circuit for internal timing of signal emission, detection, digitalization and recording of data.

Description

Attorney Docket No. 5319-APPLICATION FOR CANADIAN LETTERS PATENT

INVENTORS: Charles David Leggatt; Alexander Peter Annan ASSIGNEE: Sensors & Software Inc.

TITLE: Timing and Control and Data Acquisition for a Multi Transducer Ground Penetrating Radar System Timing and Control and Data Acquisition for a Multi Transducer Ground Penetrating Radar System Field of the Invention This invention relates in general to ground penetrating radar system, and more particularly to a multi transducer for a ground penetrating radar system (GPR).

Background of the Invention There is a growing demand for GPR systems that have the ability to acquire data with more than one transducer system. The ability to run more than one transducer system at a time is extremely complex given the nature of the problem.
Complex control and detailed accurate timing design are needed in the system.

In current practice, systems have one transmitter and one receiver unit.
Generally GPR systems obtain data along a measurement traverse with the transmitter and receiver in a fixed geometrical configuration with respect to one another (prior art, Figure 1); the GPR system as a whole is moved over the ground or medium to be explored (Annan, A.P., Davis, J.L., Ground Penetrating Radar -Coming of Age at Last, 1997; Proceedings of the Fourth Decennial International Conference on Mineral Exploration (Exploration'97), Toronto Canada, September 14 to September 18, 1997).

References to the utilization of more than one transmitter or receiver are limited. Prior attempts have been made as described in U.S. Patent No.
5,248,975 issued to Schutz, A.E., entitled "Ground Probing Radar with Multiple Antenna Capability".

There are four major problems that have to be overcome. The first problem is that the acquisition of ground penetrating radar traces in single transient waveform capture process, in digital form (or even analog form) is virtually impossible. Current commercially available analog to digital (A/D) converters are simply not fast enough nor do they have sufficient dynamic range to record the signals required for many of the GPR applications.

As a result, GPR systems resort to some sort of repetitive signal in order to capture the desired data. The most common approach is to use equivalent time sampling. Other approaches are to use a step frequency CW that acquires data in the frequency domain by detecting the in-phase and quadrature response of the transfer function; the time domain signal is created by fourier transform.

A third approach is to use a fast A/D converter with few bits (i.e. limited dynamic range) and then stack the resultant signal for many, repetitions in order that the resolution can be brought up. A fourth approach is to transmit some stream of random signals and use a correlation technique to extract the impulse response. As a result, considerable time is needed at each observation point to acquire data of a satisfactory nature. The integration of this complex, individual signal capture process into the overall acquisition timing and synchronization of events with multiple units is a complicated task.

The second major problem in trying to operate more than 2 units is that 2 transmitting signals operating at the same time can interfere with one another. If one wants to have two units, which are collecting independent information but operating at the same time then it is important that the signals from the transmitters do not get emitted at exactly the same time so that the two data sets can be acquired with high fidelity. In some instances it is desirable to have the transmitters operating simultaneously, but in this case one wants to make sure that the timing of the transmitters is perfectly synchronized in order to enhance signal from the ground.

The third problem is that the antennas which are the transducers create, radiate and detect the electromagnetic signals which are transmitted into the ground are highly dependent on the surroundings. When multiple transducers are placed in close proximity to one another, the transducers can interact in an unpredictable fashion and generate spurious signals.

The final problem is with the spatial distribution of the transducers. Since the signals that are being measured are radio waves that travel at the speed of light, all of the times involved in the measurement process are very short. Since the subsurface spatial dimensions may be similar to the separation distances between GPR components, the travel times on the inter connecting cabling of the systems can become as large if not larger than the travel times of the signals through the media being probed. As a result, it is important that any timing system be able to recognize these time differences and adjust times to eliminate the time delays associated with spatial distribution of the transducers.

Figures 2-5, show the most commonly envisaged multi-unit systems. Figure 2 shows the use of multi transducer systems where the objective is to obtain data records from a variety of separations between the transducers. Many applications could benefit if data from a multiplicity of separation could be acquired simultaneously. Fisher, E., McMechan, G.A., and Annan, A.P., Acquisition and Processing of Wide-Aperture Ground Penetrating Radar Data; 1992; Geophysics, Vol. 57, p. 495-504, -and Greaves, R.J. and Toksoz, M.N, Applications of Multi-Offset Ground Penetrating Radar; Proceedings of the Symposium on the Application of Geophysics to Engineering and Environmental Problems, 1994; (SAGEEP'94), p.

775-793 discuss the use of variable offset measurements and the enhancement of the data that can be achieved by coherent spatial stacking in the spatial dimension.

In some applications, the making of multiple separation measurements made at each station along the transect line, is called multi-fold surveying. Multi-offset data available at every measurement point allows for the extraction of a velocity cross-section, an attenuation cross-section and an enhancement of data by determining an optimum spatial stacking velocity structure.

The second type of multi-channel system is depicted in Figure 3. In this case the objective is to try and cover a larger area more quickly. Many GPR
applications require acquisition of data on a series of parallel lines in order that a large area can be covered to obtain a three dimensional volume view of the ground.

One way of improving such surveys is to have a number of measurement systems mounted side-by-side and have these transported over the ground simultaneously. In Figure 3, a one channel system is shown sequentially measuring up and down 4 lines to acquire the same data that 4 transducers traversing once simultaneously over the four lines would achieve as shown in Figure 3b. It is useful to note in this application that the individual units can more or less operate independently. They do not really require synchronous sampling times but it is desirable if the transmitters be set up to operate at different staggered times to eliminate any potential of interference between the units caused by simultaneous operation of the individual units.

Figure 4 depicts still another type of application where multiple transducers or measurements are desirable. Quite often the bandwidth of GPR systems is limited by the intrinsic characteristics of antennas. For detailed study of the subsurface, a number of systems with different frequency bandwidths and corresponding different physical sizes may have to be traversed along the same line in order to achieve full coverage of the subsurface.

At present, this type of operation is achieved by surveying the line a number 5 of times as depicted in Figure 4, once with each transducer. The whole operation could be speeded up if all (three transducers in the example shown) transducers could be moved simultaneously down the line at one time and the same data acquired.

The most general use of multi-unit systems is depicted in Figure 5 and consists of a full array of transmitters and receivers spread over an area.
The operation of transmitters either independently or synchronously together in time, as well as all of the receivers operating and acquiring data synchronized in time, provides a powerful means of subsurface imaging. The whole package shown could be transported along the line to provide multi-offset continuous data in a three dimensional fashion. Such data acquisition then lends itself to use of synthetic aperture processing or the equivalent multifold 3D seismic processing concepts that are commonly applied in the petroleum industry. Such an application requires synchronization of all of the timing in the units that are spatially distributed.

Equivalent time sampling (ETS) is a means of using multiple repetitions of a transient signal to capture a transient waveform (Mulvey, John, Sampling Oscilloscope Circuits; 1970; Internal Publication of Tektronix, Inc., Beaverten, Oregon). Other modes of operations such as continuous wave, step frequency or instantaneous capture and stacking can use some of the concepts outlined here.

As indicated previously, ETS receivers require successive repetitions of the signal waveform to be recorded in order that it can be acquired. Fisher (supra) provides information on ETS and some of the types of systems that have evolved.

Analog ETS systems were spawned in the 1960's and 1970's. Figure 6 depicts a typical ETS. A timing circuit is required which will provide a very controlled time delay between when a signal is created and the time at which a measure of the waveform sampled over a short time interval is acquired.
Historically two analog ramps, one slow and one fast, were used to drive a comparator that would provide a time delayed trigger output.

For the ETS shown in Figure 6, the key feature is that the receive trigger is delayed in time progressively on every repetition of the transmit pulse. This time that is dictated by a control clock delay, increases from a minimum value to a maximum value over a fixed amount of time (i.e., N repetitions of the control clock). When the number of desired repetitions of the control clock has been reached, the whole system is reset and it starts over again. To work properly the control clock has to be very stable and regular.

Using a sample and hold or a sampling head circuit, the transient signal is captured over a short interval in time is output from the sampling device as a continuous analog voltage. Provided the control clock is stable and delay time varies linearly, the analog voltage is a replica of the transient waveform input but which is slowed down in time. Time stretching of 1,000:1 or even 1,000,000:1 is common.

The captured signal in the case shown in Figure 6 requires N repetitions of the master clock and the transmitted signal to acquire one replica of real signal. The real time transient waveform will be sampled over a real time interval NAt where At is the amount the receiver trigger is delayed on each successive cycle of the system.
What characterizes such a system is the repetition rate. This is the clock shown in the schematic diagram in Figure 6. If the repetition period of the clock is P, then the real time signal interval NAt will be acquired in an ellipsed time of NP.
This is an equivalent time stretch factor that is determined by the ratio ~.

When using analog oscilloscope displays or audio tape recorders for data acquisition, the analog signal is stretched to the audio frequency range from the radio frequency range. This enables data display recording and replay using lower-cost and lower speed electronics.

The basic analog ETS system as depicted can be used to support multiple transmitters or receivers. If the triggering signals can be sequenced by a computer, or some sort of preprogrammed logic array, then a number of channels of data can be acquired as shown in Figure 7.

In this situation the receiver and transmitter triggers as shown in Figure 6 are fed through a switching network which enables transmitter or receiver units to be switched or enabled or disabled. The output of the receivers are analog traces which can then be digitized or displayed on an oscilloscope or recorded on an analog tape (Mulvey, John, supra).

There are drawbacks in this approach. If there are M transmitter and receiver pairs to be switched, then the acquisition time increases to M x NP.
In other words, data acquisition rate is slowed down. If a single transmitter and a multiple set of receivers are to be used to acquire time synchronous data, then the full waveform recording sequence for the receivers must be required before switching to another transmitter and repeating the sequence. Such multiplexing reduces the rate at which the system can be moved.

There is no simple way in which the timing associated with delays along the interconnect lines can be handled in any systematic fashion. This may be developed into the system by calibrated cables or may be handled in post acquisition but it is not readily accommodated by the analog ETS configuration shown.

Therefore a multi transducer ground penetrating radar system in a compact self-contained GPR unit is desirable.

Summary of the Invention io An object of one aspect of the present invention is to provide an improved multi transducer for a ground penetrating radar system.

In accordance with one aspect of the present invention, there is provided a more enhanced digital equivalent time sampling approach.

In accordance with another aspect of the present invention, the multi transducer for a ground penetrating system allows for a completely operational, self-contained system. The present invention may contain complete compact circuits for internal timing of signal emission, detection, digitalization and recording of data.
Conveniently, the present invention allows for total independence and the ability to pass data to a common or several independent acquisition and display systems. Preferably such an operation is best when there is a minimal signal coupling between devices.

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In accordance with another aspect of the present invention the multi transducer ground penetrating system may be commanded to acquire data in an interleaved fashion but operate in a totally self contained manner by a master computer or clock. This mode of operation is optimal when there is signal coupling between the invention/devices but the data are to be treated as independent data streams.

Conveniently the time bases of the present invention can be synchronized such that all the devices can detect and record signals from all other devices.
Operation in this manner is beneficial for enhancement and extraction of information contained in the spatial placement of the invention. The ability to process all signals coherently allows for the implementation of real time or post acquisition synthetic aperture and multifold signal processing such as used in the petroleum seismic.

Detailed Description of the Drawings A detailed description of the preferred embodiment is provided herein below by way of example only with reference to the following drawings, in which:

Figures la and lb are schematic representations of the measurement and response of a ground penetrating radar system.

Figures 2a, b, c. are schematic representations of variations of multi offset measurements.

Figures 3a and 3b are schematic representations of mapping an area in 3D
volume.

Figures 4a and 4b are schematic representations of the use of different frequency ground penetrating radar systems.

Figure 5 is a diagram of the preferred configuration of transmitters and 5 receivers for a ground penetrating radar system.

Figures 6a and 6b are schematic representations of a conventional analog equivalent time sampling system.

10 Figure 7 is a schematic representation of an analog time-based equivalent time sampling system using multiple transducers and receivers.

Figures 8a and 8b are schematic representations of a digital equivalent time sampling system.
Figure 9 is a schematic representation of a multi digital equivalent time sampling system circuitry.

Figure 10 is a schematic representation of a multi digital equivalent time sampling system including the clock, sampler, and microprocessor.

Figure 11 is a schematic representation of the triggering circuit of the multi digital equivalent time sampling system.

Figures 12 a, b, c, d are schematic representations of the multi digital equivalent time sampling system.

Figures 13a - 13g are tables outlining the different applications of the invention.
In the drawings, preferred embodiments of the invention are illustrated by way of example. It is to be expressly understood that the description and drawings are only for the purpose of illustration and as an aid to understanding and are not intended as a definition of the limits of the invention.

Detailed Description of the Preferred Embodiment In the description that follows, like parts are marked throughout the specification and the drawings with the same respective reference numerals.
The drawings are not necessarily to scale and in some instances proportions may have been exaggerated in order to more clearly depict certain features of the invention.

Digital equivalent time sampling (DETS) is a modern approach to ETS. The basic concept is depicted in Figure 8. With DETS, a single sample of a transient waveform is acquired at a time delay D after stimulation of the response. In DETS, the time delay D is discretized and programmable. In initial DETS systems, the time delay was defined as nQ where n is an integer and Q is a fixed time interval.
The result is D=nQ O<n<N (1) In general the value of N was some finite limit dictated by the digital logic of the embodiment by a microprocessor. Typically the maximum n values would 210 and 212 in early devices. This type of digital equivalent time sampling is common in commercial products.

In this case a more sophisticated clocking sequence is used to generate delays. In this case time delays have the form D = mP + mQ (2) where N x Q = P which gives a coarse and fine delay capability to the timing.
The reason for this extended approach is that for general purpose application in multi channel DETS, the time delays which may be required are much larger than a single DETS requirement designed system can accommodate. By approaching the construction this way one maintains the fine scale Q resolution but at the same time extends the offset range to a much larger range.

DETS provides a tremendous versatility in the equivalent time sampling concepts. The most important aspect is that there is no longer a need for a repetitive clock rate which dictates the systems output data rate. Each point sampled using a DETS system is an acquisition that is totally independent of any other point acquired.

For example the system could gather sample points once per second for a while, then once every 10 seconds or once every millisecond and the resulting waveform would be captured with equal validity as if all of the samples were acquired at a one microsecond interval. In other words, sampling is now an individual point event and no longer requires a clock or a fixed repetition rate for the transmitter or any other part of the circuit. In a DETS, there is usually a stable crystal clock which is used to provide the fundamental period P and the fme sampling interval Q but this clock has no relationship to the rate at which samples are acquired.

With a DETS base system, the equivalent to the analog trace acquisition discussed in Figure 6 can be emulated by having a computer or some programmable or hardwired logic develop a series of time delays D;

D, = At (3) DZ = 20t D3 = 30t where At in this case equals pQ where p is an integer (i.e., At must be an integer multiple of the fundamental programmable delay interval Q).

A second integral part of DETS is the digital capture of the signal. As depicted in Figure 8b, the high, speed analog signal at time delay D is captured directly into digital form. The receive trigger is used to open and close a fast switch or sample and hold, which feeds into an A/D converter that outputs directly to a computer or other display device. The key point is that the transient data value at the given delay time is captured and stored as a contained action with no reference to other points which may be captured before or subsequently in time.

A DETS system can repeat the observation at a fixed delay any number of times and a computer or hard-wired logic circuit can take the individual observed values from each repetition and average them to obtain an enhanced measurement with reduced noise.

The time delay, D, can be driven from a random number generator. In this case, the integer values m and n in Figure 8 would be random and as a result the delay time would be randomized. If the observed data are recorded along with the delay time associated with m and n then a reconstruction of the waveform can be achieved by sorting the delay times in descending order and then plotting the observed signal versus delay time.

With a DETS system, the time sampling can be discontinuous as shown in Figure 4. In this case, there are two time windows recorded, one from time At to 30t and another one from 300t to 320t. Only three points are indicated here, but this could be generalized to any number of points. Since the spacing between windows is programmable such an approach can be used to develop an event tracker to record data from a given delay time and ignore all others. For example D, = Ot (4) DZ = 20t D3 = 3At D4 = 30At D5 = 310t D6 = 32At With DETS systems, one can acquire data in reverse order such as might be obtained by the following sequence of delay times.

D, = 60t (5) D2 = 50t D3 =4At D4 =3At D6 =10t If there is a need to vary the stacking with delay time, then the delay time can be fixed at a given value for a variable number of repetitions of the transmitter and signal averaged a variable number of times depending on time delay. A simple illustration of this is the following table.

Stat End Delay (6) 1 5 Ot v(Ot) =E'V, l 5 6 10 20t v(2At) =IS'V/ 5 10 20 3At v(3At) =Eio V. / 10 Since the samples of a DETS system can be acquired at irregular time intervals, the transmitter emissions can spread spectrum in character rather than spectral line in character as a regular repetition of signal would entail.

By suitable design of the DETS system, the triggering paths and the delays can be computer controlled and assembly of multi-channel systems becomes practical. Such a DETS designed system provides a powerful multi channel capability. Figure 9 shows the basic building block of what is called a multi-channel DETS system (MDETS).

5 Figure 9 shows the basic building block of a MDETS system. Computers can enable this programmable time delay. The actual time delay takes an input trigger either from an internal generated source or from an external source (i.e. a computer command etc.) which can be selected under computer control and responds to that trigger by generating a trigger output for a radar transmitter and a 10 trigger output for a DETS sampling receiver.

The programmable delay allows coarse time steps in the transmitter trigger and both coarse and fine delay steps in the receiver trigger so that the transmitter and receiver triggers can be offset with respect to one another by fme delays and the 15 whole operational unit delayed by coarse steps. An output trigger is available from the programmed delay and this can be enabled or disabled by computer control.
In addition to the delay system itself, the MDETS module can select transmitter and receiver triggering from external sources as well as internal sources. Since operation of all of these switches can be selected independently under computer control a very versatile building block is developed.

The modular and compact nature of the timing and sampling with MDETS
allows chaining of units in many ways. To allow all of the possible forms of operation, MDETS modules are developed in two forms denoted A and B, as shown in Figure 10. The A unit provides full versatility of input and output triggers and selection of operation. The B form is a subset of A which has its main objective of acting as a control over an A-type unit, which acts as a slave. The B-type unit is primarily required for managing synchronous operation of A type units which are separated by substantial spatial distances.

In order to show how MDETS configurations allow implementation of a variety of multi-channel operations, a standard schematic block is depicted in Figure 11. The type A response is a block with four connections on the top, two on the bottom and two internally generated. The unit is microprocessor controlled, has an embedded microprocessor as well as a communications bus to allow it to interact with all of the other units that would be put in any multi channel system. The type B block is similar but has only a subset of the type A ports.

The simple modular schematics shown in Figure 11 are used to show how the interconnects for various operations can be managed. Figure 12 shows the range of interconnects from the simple to the complex. Figure 12a shows the simple individual single system as depicted in Figure 10. In other words, one MDETS
type A unit will operate on its own and its only connection to the outside world need be that of exporting data or importing instructions as to what data it should collect.

Figure 12b shows a dual unit system where one unit transmits and the other unit receives. This is a very common requirement in GPR and the spatial separation between the units can be highly variable and this type of simple interconnect proves powerful. In this case we are still really using a single transmit/receive configuration.

The next mode of operation is that of handling multiple channels of operation where time synchronization is not critical but interleaving operation can be important. Figure 12c shows how an arbitrary number of units can be set up to operate in this fashion. One B-type MDETS unit is used as a master control.
This unit provides a synchronizing trigger to all of the active units.

Each of the individual units acts on its own and acquires data when commanded by the synchronizing trigger from the B MDETS unit. All the A units then function independently internally. The one factor which allows interleaving operations is that all of the units can be programmed to carry out their data point acquisition at an arbitrary delay after the common clocking trigger is received from the B unit. As a result each unit can acquire data in a small time slot independent of operation of the other units. Obviously the time window where overlapping can occur will depend on the exact configuration of the radar but this can be programmed in to any level of resolution needed.

When we speak about interleave timing in such systems, all units only have to have synchronized triggering to timing intervals on the order of microseconds.
On the other hand if one requires synchronous time base acquisition within receivers then one may need timing resolutions to the order of tens to hundreds of pico seconds. Hence, we distinguish between interleaved operation and synchronous operation for timing requirements.

Fully synchronized time operation requires a B MDETS unit for every A
MDETS unit deployed. The concept is depicted in Figure 12d. The issue here is that the active A units are spatially distributed in an array or a line and the distances between units can be quite substantial. As indicated previously, the travel time over interconnecting cables can be significant. Delay times can be as big as the transit time or the recording time of the signal. As a result it is important to be able to compensate for all of these time delays associated with by the spatial distribution so that all of the units can operate precisely in a synchronous fashion.

The manner in which this is achieved is to have a B MDETS unit for each A
unit. The B units are all mounted in close proximity in a single control unit with a master trigger to fire them all simultaneously. Each B unit can be programmed to have an offset time, which accommodates all of the time delays associated with connections to the individual A unit, which it controls. This timing can be controlled down to the finest time resolution required for synchronous sampling for the particular application.

The key point is that the B units are spatially close to one another in a self contained module and the A units are spatially deployed over an arbitrarily large area.
Note that all units are time programmable and operational programmable so that all of the necessary correction information can be learned and sustained and used within the system and interchanged digitally over the conununications bus.

Figure 13 describes a table outlining the various applications or desired targets that the present invention may be applied to.

Various embodiments of the invention have now been described in detail. Since changes in and/or additions to the above-described best mode may be made without departing from the nature, spirit or scope of the invention, the invention is not to be limited to said details.

Claims (16)

1. A mechanism for controlling and sequencing the creation and detection of signals, at precisely, controlled, programmable time intervals, with components distributed over an arbitrary spatial area and comprising at least one emitting device and at least one detecting device for use near or on media to be imaged, the mechanism further comprising:
(a) a stable controllable oscillator providing a time base for all operations of said mechanism; and (b) a means for generating at least two output triggers, triggering at least one emitting device and at least one detecting device at said precisely controlled programmable time intervals, wherein said mechanism allows for the programmable offset of the operation of said mechanism.

2. Multiple mechanisms for controlling and sequencing the creation and detection of signals, at precisely, controlled, programmable time intervals, with components distributed over an arbitrary spatial location, comprising at least one emitting device and at least one detecting device for use near or on media to be imaged, comprising:
(a) at least one stable controllable oscillator providing a time base for all operations of said mechanisms; and (b) at least one means for generating at least two output triggers, triggering at least one emitting device and at least one detecting device at said precisely controlled programmable time intervals wherein said mechanisms allows for the programmable offset of the operation of each mechanism.

3. A mechanism or multiple mechanisms for controlling and sequencing the creation and detection of signals as claimed in claims 1 or 2, further comprising a computer or programmable device located internally or externally of said mechanism or said multiple mechanisms controlling the selection of said time intervals.

4. A mechanism or multiple mechanisms for controlling and sequencing the creation and detection of signals as claimed in claim 3, wherein said computer or programmable device located internally or externally of said mechanism or said multiple mechanisms controls the selection of the programmable offset.

5. A mechanism or multiple mechanisms for controlling and sequencing the creation and detection of signals as claimed in claim 3, wherein said computer or programmable device has data storage capacity of non-volatile information wherein said computer or programmable device retains programmable settings of said mechanism or said multiple mechanisms for an indefinite period of time.

6. A mechanism or multiple mechanisms for controlling and sequencing the creation and detection of signals as claimed in claims 4 or 5, further comprising a communication means for communication of said programmable settings between said mechanism or said multiple mechanisms and internally or externally between said computer or programmable device.

7. A mechanism or multiple mechanisms for controlling and sequencing the creation and detection of signals as claimed in claims 1 or 2, further comprising a program or logic device for adaptively adjusting said setting of said mechanism or said multiple mechanisms allowing for the operation of said mechanism or said multiple mechanisms to adjust for changing environment.

8. A mechanism or multiple mechanisms for controlling and sequencing the creation and detection of signals as claimed in claims 1 or 2, wherein said mechanism or said multiple mechanisms receive information regarding their spatial location for use in self reprogramming to changes in said spatial location where said changes are inputted manually, electrically or through an electronic positioning device.

9. A mechanism or multiple mechanisms for controlling and sequencing the creation and detection of signals as claimed in claim 7, wherein said logic device or program and said mechanism or said multiple mechanisms function together as an equivalent time sampling subsurface image device.

10. A mechanism or multiple mechanisms for controlling and sequencing the creation and detection of signals as claimed in claim 9, wherein said logic device or program allows said mechanism or said multiple mechanisms to initiate a sequential frequency capture of a transfer function using heterodyning or signal mixing measurement procedures for producing a subsurface imaging device.

11. A mechanism or multiple mechanisms for controlling and sequencing the creation and detection of signals as claimed in claims 9 or 10, for a bistatic subsurface imaging device with arbitrary spatial separation between said emitting device and said detecting device.

12. A mechanism or multiple mechanisms for controlling and sequencing the creation and detection of signals as claimed in claims 9 or 10, further comprising a plurality of subsurface imaging devices operated in a time synchronous or programmable staggered synchronous fashion to achieve enhanced subsurface imaging without said subsurface imaging devices interfering with each others operation.

13. A mechanism or multiple mechanisms for controlling and sequencing the creation and detection of signals as claimed in claims 9 or 10, further comprising a plurality of subsurface imaging devices distributed over an arbitrary spatial area wherein said emitting devices and said detecting devices are operated in a synchronous fashion or time staggered fashion to achieve enhanced subsurface imaging by means of additive or constructive interference signal methods of increasing signal strength.

14. A mechanism or multiple mechanisms for controlling and sequencing the creation and detection of signals as claimed in claims 12 or 13, wherein said subsurface imaging devices allows for imaging a larger volume of the subsurface concurrently.

15. A mechanism or multiple mechanisms for controlling and sequencing the creation and detection of signals as claimed in claims 9 or 10, wherein said subsurface imaging device is a ground penetrating radar for applications selected from the group consisting of agriculture, airports, archeology, biocounting, bridges, building inspection, concrete, conveyor belts, dams, environmental, forensics, police matters, geotechnical, gravel pits, graveyards, groundwater, hydro power, nuclear power, ice detection, snow detection, lakes, rivers, military, mining, pipe inspection, sewer inspection, quarries, railroads, real estate roads, security, immigration, customs, smelters, treasure mapping, trenchless technology, tunneling, utility works, pipes and wood inspection.

16. A mechanism or multiple mechanisms for controlling and sequencing the creation and detection of signals as claimed in claims 6, 8 or 9, wherein said signals are randomized or positioned in time to spread emission spectra as uniformly as possible or to remove emission from a selected portion of the frequency spectrum of said subsurface imaging devices.