CN105182328A - Ground penetrating radar underground target positioning method - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention relates to a ground penetrating radar underground target positioning method. The method comprises the steps that 1) two-dimensional empirical mode decomposition is carried out on detection echo data of a ground penetrating radar to acquire K two-dimensional empirical mode function components IMF with orderly descending frequency and a residual; 2) the mean of the first M (M</=K) two-dimensional empirical mode function components is used as the characteristic value of the detection echo data; 3) the extreme point of the characteristic value of the detection echo data is acquired and is used as the estimation value of the vertex position of an underground target; 4) the underground propagation velocity of an electromagnetic wave is estimated; and 5) according to the estimation value of the vertex position of the underground target and the underground propagation velocity of the electromagnetic wave, a ground penetrating radar hyperbolic mathematical model is used to carry out hyperbolic fitting to position the underground target. According to the method provided by the invention, the target information is completely kept; a clutter suppression effect is improved; and the accuracy of target positioning is improved.
Description
Technical Field
The invention relates to the field of ground penetrating radar detection, in particular to a method for positioning an underground target of a ground penetrating radar.
Background
The ground penetrating radar is an effective shallow underground target detection technology which is rapidly developed in recent decades, is a non-destructive detection means, has the advantages of high detection speed, high resolution, convenience and flexibility in operation, low detection cost and the like, and is widely applied to detection and positioning of underground targets such as cavities, pipelines, mines and the like.
The two-dimensional echo data detected by the ground penetrating radar is called B-Scan data which is a data basis for subsequent radar signal processing, target identification and interpretation, and the ground penetrating radar target positioning technology is also based on the B-Scan data. The clutter in the B-Scan data of the ground penetrating radar is the most significant for realizing accurate positioning of the target. The clutter of the ground penetrating radar can be regarded as various echoes except the target echo, and generally comprises an antenna direct wave, a surface echo, an echo generated by a underground inhomogeneous medium, an echo generated by a false target and the like. The clutter of the ground penetrating radar makes accurate detection of underground targets difficult, especially for shallow buried targets, target echoes are weaker components compared with earth surface echoes, time delay between the target echoes and the earth surface echoes is small, and the target echoes are easily submerged by the clutter of strong earth surface echoes. Therefore, clutter suppression of the ground penetrating radar is the primary task for achieving accurate positioning of the ground penetrating radar target.
The common positioning method is mainly based on hyperbolic curve extraction of a B-scan image, and the target depth is calculated according to the velocity of the extracted hyperbolic curve. Mainly comprises the following steps: based on the extraction of the hyperbola by the neural network, more data are needed for training, and online detection is not easy to realize; by adopting a fuzzy clustering mode identification method, for shallow detection possibly existing in both a metal pipeline and a non-metal pipeline, a false alarm is easily generated, and a non-metal pipeline target is easily missed. When the method based on image segmentation and Hough transform is applied to a shallow detection pipeline, stronger clutter and target echoes cannot be effectively distinguished; when the method based on image segmentation and template matching is applied to a shallow detection pipeline, the sizes of pipe diameters are possibly changeable, so that the corresponding templates are more, and the algorithm operation time is longer; the curve detection based on morphology is to perform detection and judgment according to the gray value of an image, a target area can be judged, but a plurality of curves are obtained, and the curves need to be processed when the next calculation is performed.
Disclosure of Invention
The invention provides a ground penetrating radar underground target positioning method, and aims to solve the problems that a target positioning method in the prior art is complex and low in positioning accuracy.
In order to solve the technical problems, the technical scheme of the invention is as follows:
1) performing two-dimensional empirical mode decomposition on B-Scan detection echo data of the ground penetrating radar to obtain K two-dimensional empirical mode function components IMF with sequentially decreasing frequency and 1 residual error;
2) taking the mean value of the first M (M is less than or equal to K) two-dimensional empirical mode function components as the characteristic value of the detection echo data;
3) acquiring an extreme point of the characteristic value of the detection echo data as an estimated value of the vertex position of the underground target;
4) estimating the propagation speed of the electromagnetic wave in the underground;
5) and according to the estimated value of the top position of the underground target and the propagation speed of the electromagnetic wave in the underground, performing hyperbolic fitting by using a hyperbolic mathematical model of the ground penetrating radar to complete positioning of the underground target position.
The specific process of performing two-dimensional empirical mode decomposition on the detection echo data of the ground penetrating radar in the step 1) is as follows:
a) firstly, determining detection echo data I of ground penetrating radarresAll extreme points of (1) are specifically determined by adopting an eight-neighborhood methodresAll maxima and minima of the image;
b) detection echo data I of ground penetrating radarresAll the extreme points are interpolated by using the radial basis function, and the interpolated extreme points and the interpolated polesUsing small value points respectively EIAnd ESRepresenting, obtaining detection echo data I after curve fittingresUpper and lower envelopes of;
the specific form of the radial basis function RBF is:
wherein: s is the Radial Basis Function (RBF), pmBeing a polynomial of low degree, e.g. linear or quadratic or m of d variablesthPolynomial, | | · | |, represents the euclidean norm. Lambda [ alpha ]iIs the RBF coefficient and Φ is the real-valued function, often referred to as the center of the radial basis function RBF.
c) Averaging upper and lower envelopes
EM＝(EI+ES)/2；(2)
d) From raw probe echo data IresMinus EMObtaining new detection echo data
e) Judging according to IMF judgment conditionsWhether it is an IMF or not, if it is an IMF, let the first two-dimensional empirical mode function component (IMF)Is composed ofResidual errorOtherwise, useIn place of IresRepeating steps a) to d) until a decision is madeFor an IMF, let the first two-dimensional empirical mode function component (IMF)Is composed ofResidual errorRepeating the steps until K two-dimensional empirical mode function scores with sequentially decreasing frequency are obtainedThe quantity IMF and 1 residual.
The IMF determination condition is to set an SD threshold,
wherein,andto pass through the iththAs a result of the successive two attenuations of the individual modes,denotes the iththThe m row and n column values of the j-th attenuation of each mode decomposition, M, N, represent the row and column numbers of the two-dimensional ground penetrating radar image. In practice, a threshold value T is preset, and when SD is smaller than the threshold value, the iteration is stopped, namely, the judgment is madeIs an IMF.
In the step 3), the target echo is known to have hyperbolic characteristic according to the ground penetrating radar principle, and the ordinate of the vertex of the hyperbolic represents the shortest echo time delay, namely the ground penetrating radar is closest to the target at the measuring point. Therefore, the characteristic value of the selected detection echo data is scanned column by column, the minimum value of the ordinate is selected, and the ordinate of the vertex of the hyperbola is determined. The abscissa of the hyperbola represents the corresponding horizontal position of the object. And in the step 4), estimating the propagation speed of the electromagnetic wave in the underground by adopting a frequency beam offset method and combining a minimum entropy technology.
The hyperbolic mathematical model of the ground penetrating radar in the step 5) is as follows:
where x denotes the antenna position, x0Horizontal coordinates representing the position of the apex of the target, v represents the propagation velocity of the electromagnetic wave in the ground, t0Indicates the position of the antenna as x0T represents the target reflection echo time delay with the antenna position x.
The method for positioning the underground target of the ground penetrating radar comprises the steps of firstly carrying out two-dimensional empirical mode decomposition on detection echo data of the ground penetrating radar to obtain a plurality of single-component signals, then extracting characteristic values of the detection echo data according to the single-component signals, estimating the position of the top point of the target, and then carrying out hyperbolic curve fitting by combining the estimated wave speed and the ground penetrating radar principle to complete target positioning. The method can improve clutter suppression effect while completely retaining target information, and improve target positioning precision.
Drawings
FIG. 1 is a flowchart of a method for locating an underground target of a ground penetrating radar in the embodiment;
FIG. 2 is a flowchart of a two-dimensional empirical mode decomposition algorithm in accordance with the present embodiment;
FIG. 3 is a B-Scan echo image actually measured by the ground penetrating radar in the embodiment;
FIG. 4 is a diagram illustrating an image after a first IMF is extracted by two-dimensional empirical mode decomposition according to the present embodiment;
FIG. 5 is a diagram illustrating a relationship between a radar antenna and a target B-Scan echo in the present embodiment;
FIG. 6 is a graph showing the effect of the curve fitting on the original B-Scan image in this embodiment.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
As shown in fig. 1, the method for positioning an underground target of a ground penetrating radar of the present embodiment includes the following steps:
1) performing two-dimensional empirical mode decomposition on detection echo data of the ground penetrating radar to obtain K two-dimensional empirical mode function components IMF with sequentially decreasing frequency and 1 residual error;
2) taking the mean value of the first M (M is less than or equal to K) two-dimensional empirical mode function components as the characteristic value of the detection echo data;
3) acquiring an extreme point of the characteristic value of the detection echo data as an estimated value of the vertex position of the underground target;
4) estimating the propagation speed of the electromagnetic wave in the underground;
5) and according to the estimated value of the top position of the underground target and the propagation speed of the electromagnetic wave in the underground, performing hyperbolic fitting by using a hyperbolic mathematical model of the ground penetrating radar to complete positioning of the underground target position.
The above steps are described in detail below:
in step 1), performing two-dimensional empirical mode decomposition on the B-Scan echo data of the ground penetrating radar, where the empirical mode decomposition process may be a decomposition process in the prior art, as shown in fig. 2, the following two-dimensional empirical mode decomposition process is preferably adopted in this embodiment:
step1 firstly determining detection echo data I of ground penetrating radarresAll extreme points of (1) are specifically determined by adopting an eight-neighborhood methodresAll maxima and minima of the image;
detection echo data I of Step2 for ground penetrating radarresAll the extreme points are interpolated by using the radial basis function, and the interpolated maximum point and minimum point are respectively interpolated by using EIAnd ESRepresenting, obtaining detection echo data I after curve fittingresUpper and lower envelopes of;
the specific form of the radial basis function RBF is:
wherein: s is the Radial Basis Function (RBF), pmBeing a polynomial of low degree, e.g. linear or quadratic or m of d variablesthPolynomial, | | · | |, represents the euclidean norm. Lambda [ alpha ]iIs the RBF coefficient and Φ is the real-valued function, often referred to as the center of the radial basis function RBF.
Step3 calculating average value E of upper and lower envelopesM＝(EI+ES)/2；
Step4 from the raw probe echo data IresMinus EMObtaining new detection echo data
Step5 is judged according to IMF judgment conditionWhether it is an IMF or not, if it is an IMF, let the first two-dimensional empirical mode function component (IMF)Is composed ofResidual errorOtherwise, useIn place of IresRepeating steps a) to d) until a decision is madeFor an IMF, let the first two-dimensional empirical mode function component (IMF)Is composed ofResidual errorAnd repeating the steps until K two-dimensional empirical mode function components IMF with sequentially decreasing frequency and 1 residual error are obtained.
The IMF determination condition is to set an SD threshold,
wherein,andto pass through the iththThe results of two successive attenuations of the individual modes, M, N representing the number of rows and columns of the two-dimensional image,denotes the iththThe data of the m row and n column of the j attenuation of the mode decomposition. In practice, a threshold value T is preset, and when SD is smaller than the threshold value, the iteration is stopped, namely, the judgment is madeIs an IMF.
And finally obtaining K two-dimensional empirical mode function components IMF with frequencies decreasing from high to low and 1 residual error according to the method.
In the embodiment of step 2), the mean value of the frequency components of the first M (M ≦ K) two-dimensional empirical mode functions is preferably used as the feature value of the detected echo data, as shown in fig. 4, and the feature value can suppress clutter while retaining the target position.
In the step 3), the target echo is known to have hyperbolic characteristic according to the ground penetrating radar principle, and the ordinate of the vertex of the hyperbolic represents the shortest echo time delay, namely the ground penetrating radar is closest to the target at the measuring point. Therefore, the characteristic value of the detected echo data selected by scanning line by line is selected, the minimum value is selected, the ordinate of the vertex of the hyperbola is determined, and the abscissa of the hyperbola represents the corresponding horizontal position of the target.
As for the step 4), as shown in fig. 5, a hyperbolic mathematical model of the ground penetrating radar is obtained according to the principle of the ground penetrating radar:
where x denotes the antenna position, x0Horizontal coordinates representing the position of the apex of the target, v represents the propagation velocity of the electromagnetic wave in the ground, t0Indicates the position of the antenna as x0T represents the target reflection echo time delay with the antenna position x. Therefore, the vertex coordinates (x) are obtained0,t0) And wave velocityvThe target can be accurately positioned, and three parameters need to be estimated respectively by solving the vertex coordinates (x)0,t0) And wave velocityv。
The target vertex coordinates (x) have been estimated in the above step 3)0,t0) Detailed description of the inventionWave velocityvThe estimation process of (2):
a) selecting a minimum value V of wave speedminCalculating an offset result under a given speed value by using a frequency wave number offset method;
b) the entropy of the shifted image is calculated according to the following formula, denoted as E1；
c) Selecting a speed step Δ V, using Vmin+ΔV，Vmin+2ΔV，Vmin+3 Δ V, …, performing offset calculation on the detected echo data processed in step 2) until the velocity reaches the maximum predetermined value VmaxSetting n speed parameters in common, calculating the offsetThe image entropy of (1), the result is noted as E2，E3…, up to En。
d) And finding the speed value corresponding to the entropy value minimum point, wherein the value is the most reasonable offset speed parameter v.
The present embodiment preferably estimates the wave velocity v in the above manner, and as other embodiments, there are many ways to estimate the wave velocity v in the prior art, and detailed description is omitted here.
And 5) substituting the target vertex position estimated in the step 3) and the speed v estimated in the step 4) into a hyperbolic mathematical model of the ground penetrating radar, fitting a hyperbola, and finishing the positioning of the ground penetrating radar target as shown in fig. 6.
The specific embodiments are given above, but the present invention is not limited to the described embodiments. The basic idea of the present invention lies in the above basic scheme, and it is obvious to those skilled in the art that no creative effort is needed to design various modified models, formulas and parameters according to the teaching of the present invention. Variations, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention, and still fall within the scope of the invention.
Claims (5)
1. A method for positioning an underground target of a ground penetrating radar is characterized by comprising the following steps:
1) performing two-dimensional empirical mode decomposition on B-Scan detection echo data of the ground penetrating radar to obtain K residual errors and 1 residual error;
2) taking the mean value of the first M (M is less than or equal to K) two-dimensional empirical mode function components as the characteristic value of the detection echo data;
3) acquiring an extreme point of the characteristic value of the detection echo data as an estimated value of the vertex position of the underground target;
4) estimating the propagation speed of the electromagnetic wave in the underground;
5) and according to the estimated value of the top position of the underground target and the propagation speed of the electromagnetic wave in the underground, performing hyperbolic fitting by using a hyperbolic mathematical model of the ground penetrating radar to complete positioning of the underground target position.
2. The method for positioning the underground target of the ground penetrating radar according to claim 1, wherein the specific process of performing two-dimensional empirical mode decomposition on the detection echo data of the ground penetrating radar in the step 1) is as follows:
a) firstly, determining detection echo data I of ground penetrating radarresAll extreme points of (a);
b) detection echo data I of ground penetrating radarresAll the extreme points are interpolated by using the radial basis function, and the interpolated maximum point and minimum point are respectively interpolated by using EIAnd ESRepresenting, obtaining detection echo data I after curve fittingresUpper and lower envelopes of;
c) calculating the average value E of the upper and lower envelopesM＝(EI+ES)/2；
d) From raw probe echo data IresMinus EMObtaining new detection echo data
e) Judging according to IMF judgment conditionsWhether the IMF is an IMF or not, if the IMF is an IMF, the first two-dimensional empirical mode function component is orderedIs composed ofResidual errorOtherwise, useIn place of IresRepeating steps a) to d) until a decision is madeFor an IMF, let a first two-dimensional empirical mode function componentIs composed ofResidual errorAnd repeating the steps until K two-dimensional empirical mode function components IMF with sequentially decreasing frequency and 1 residual error are obtained.
3. The method for positioning the underground target of the ground penetrating radar according to claim 1, wherein the estimation value of the vertex position of the underground target in the step 3) is obtained by: and scanning the selected characteristic values of the detected echo data row by row, selecting the minimum value, determining the ordinate of the vertex of the hyperbola, and representing the horizontal position corresponding to the target by the abscissa of the hyperbola.
4. The method for locating the underground target of the ground penetrating radar according to claim 1, wherein in the step 4), the propagation speed of the electromagnetic wave in the underground is estimated by adopting a frequency beam offset method and combining a minimum entropy technology.
5. The method for positioning the underground target of the ground penetrating radar according to claim 1, wherein the hyperbolic mathematical model of the ground penetrating radar in the step 5) is as follows:
where x denotes the antenna position, x0Horizontal coordinates representing the position of the apex of the target, v represents the propagation velocity of the electromagnetic wave in the ground, t0Indicates the position of the antenna as x0T represents the target reflection echo time delay with the antenna position x.
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| CN106443674A (en) * | 2016-09-23 | 2017-02-22 | 中国地质大学（武汉） | Ground penetrating radar wave velocity estimation method based on diffraction, imaging and minimum entropy technology |
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