CN105182328B - A kind of GPR buried target detection method based on two-dimensional empirical mode decomposition - Google Patents
A kind of GPR buried target detection method based on two-dimensional empirical mode decomposition Download PDFInfo
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- CN105182328B CN105182328B CN201510570738.6A CN201510570738A CN105182328B CN 105182328 B CN105182328 B CN 105182328B CN 201510570738 A CN201510570738 A CN 201510570738A CN 105182328 B CN105182328 B CN 105182328B
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- dimensional empirical
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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
-
- 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
Abstract
The present invention relates to a kind of GPR buried target detection method based on two-dimensional empirical mode decomposition, specifically include：1) two-dimensional empirical mode decomposition is carried out to the detection echo data of GPR, obtains two-dimensional empirical modal function component IMF and 1 residual error that K frequency is successively decreased successively；2) it regard the average of preceding M (M≤K) two-dimensional empirical modal function components as the characteristic value for detecting echo data；3) extreme point of the detection echo data characteristic value is obtained, the estimate of buried target vertex position is used as；4) spread speed of the estimation electromagnetic wave in underground；5) using GPR hyperbola mathematical modeling, hyperbolic fit is carried out, the positioning of buried target position is completed in the spread speed of underground according to the estimate and electromagnetic wave of the buried target vertex position.The method of the present invention lifts clutter recognition effect while more complete reservation target information, improves the precision of target positioning.
Description
Technical field
The present invention relates to ground penetrating radar detection field, and in particular to a kind of GPR based on two-dimensional empirical mode decomposition
Buried target detection method.
Background technology
GPR is a kind of effective shallow underground target acquisition technology that recent decades are developed rapidly, and it is one
Non-destructive detection means are planted, have many advantages, such as that fast speed of detection, high resolution, flexible to operation, detection cost are low,
It has been widely used in buried target, such as cavity, pipeline, the detection and positioning of land mine.
The two-dimentional echo data of ground penetrating radar detection is referred to as B-Scan data, and it is follow-up Radar Signal Processing, target knowledge
Other and interpretation data basis, GPR Technology for Target Location will also be based on B-Scan data.To realizing that target is accurately positioned
Influence maximum is " clutter " in GPR B-Scan data.GPR clutter is considered as in addition to target echo
Various echoes, generally include echo and pseudo- target institute that antenna direct wave, earth's surface echo, underground non-uniform medium are produced
Echo of generation etc..GPR clutter causes the accurate detection to buried target to become difficult, buried particularly with shallow-layer
Target, target echo is the time delay very little between weaker composition, and target echo and earth's surface echo, mesh compared with earth's surface echo
Mark echo is easily flooded by this kind of clutter of the strong echo of earth's surface.Therefore GPR clutter reduction is to realize that GPR target is accurate
The top priority of positioning.
Common localization method is mainly based upon the hyperbolic line drawing of B-scan image, is carried out according to the hyperbola extracted
Speed calculates target depth.Mainly have：Based on neutral net to hyp extraction, it is necessary to which more data are trained, no
Easily realize on-line checking；Using the mode identification method of fuzzy clustering, all it there may be for metal pipe line and nonmetal pipe line
Shallow-layer detection for, easily produce false-alarm, and easily miss non-metallic pipe line target.Based on image segmentation and Hough transformation
Method, apply when shallow-layer detects pipeline, it is impossible to effectively distinguish stronger clutter and target echo；Based on image segmentation
Applied with the method for template matches when shallow-layer detects pipeline, because the size of caliber may be changeable, so that corresponding masterplate
Also it is more, cause algorithm operation time longer；It is to carry out detection according to the gray value of image to sentence based on morphologic curve detection
It is disconnected, it can interpolate that mesh target area but obtain being many curves, carrying out next step calculating also needs to handle curve.
The content of the invention
The present invention provides a kind of GPR buried target detection method based on two-dimensional empirical mode decomposition, it is intended to solve
The problem of object localization method complexity of the prior art and not high positioning precision.
In order to solve the above technical problems, the technical scheme is that：
1) two-dimensional empirical mode decomposition is carried out to the B-Scan detection echo datas of GPR, obtains K frequency successively
The two-dimensional empirical modal function component IMF successively decreased and 1 residual error；
2) it regard the average of preceding M (M≤K) two-dimensional empirical modal function components as the characteristic value for detecting echo data；
3) extreme point of the characteristic value of the detection echo data is obtained, the estimate of buried target vertex position is used as；
4) spread speed of the estimation electromagnetic wave in underground；
5) according to the estimate and electromagnetic wave of the buried target vertex position underground spread speed, using visiting land mine
Up to hyperbola mathematical modeling, hyperbolic fit is carried out, the positioning of buried target position is completed.
The step 1) in be to the detailed process that the detection echo data of GPR carries out two-dimensional empirical mode decomposition：
A) the detection echo data I of GPR is determined firstresAll extreme points, it is specific to use eight neighborhood method
Determine IresImage all maximum and minimum；
B) to the detection echo data I of GPRresAll extreme points enter row interpolation, interpolation using RBF
Maximum point and minimum point afterwards uses E respectivelyIAnd ESRepresent, detection echo data I is obtained after carrying out curve fittingresIt is upper,
Lower envelope；
RBF RBF concrete form is：
Wherein：S is RBF (RBF), pmIt is polynomial of lower degree, such as linear or secondary or d variable mthIt is multinomial
Formula, | | | | represent euclideam norm.λiIt is RBF coefficients, Φ is real-valued function, it is RBF RBF to be commonly referred to as
Center.
C) average of upper and lower envelope is sought
EM=(EI+ES)/2； (2)
D) from original detection echo data IresIn subtract EM, obtain new detection echo data
E) judged according to IMF decision conditionsWhether it is an IMF, if an IMF, makes first two-dimensional empirical mould
State function component (IMF)ForResidual errorOtherwise, useInstead of Ires, repeat step a)~d) until
JudgeFor an IMF, first two-dimensional empirical modal function component (IMF) is madeForResidual error
So repeat, until obtaining two-dimensional empirical modal function component IMF and 1 residual error that K frequency is successively decreased successively.
The IMF decision conditions are setting SD threshold values,
Wherein,WithTo pass through i-ththThe double attenuation results of individual pattern,Represent i-thth
The numerical value of the m rows n row of the jth time decay of individual Mode Decomposition, M, N represent the line number and columns of two-dimentional ground penetrating radar image.It is real
A threshold value T is preset in border, stops iteration when SD is less than the threshold value, that is, judgesIt is an IMF.
The step 3) in learn that target echo has Hyperbolic Feature, the vertical seat on hyperbola summit according to GPR principle
Mark represents most short echo time delay, i.e., nearest in this measuring point GPR distance objective.Therefore, the detection of selection is scanned by column
The characteristic value of echo data, chooses the minimum value of ordinate, determines the ordinate on hyperbola summit.Hyp abscissa is with regard to generation
The corresponding horizontal level of entry mark.The step 4) in using frequency wave beam deflection method and combine minimum entropy technique estimation electromagnetic wave
Spread speed in underground.
The step 5) in GPR hyperbola mathematical modeling be：
Wherein, x represents aerial position, x0The horizontal coordinate of representative points position is represented, v represents biography of the electromagnetic wave in underground
Broadcast speed, t0Expression aerial position is x0Target reflection echo time delay, t represent aerial position be x target reflection echo when
Prolong.
The GPR buried target detection method based on two-dimensional empirical mode decomposition of the present invention is first to GPR
Detection echo data carry out two-dimensional empirical mode decomposition, obtain several single-component signals, then carried according to single-component signal
Detection echo data characteristic value is taken, estimation representative points position, then in conjunction with the velocity of wave and GPR principle estimated, is entered
Row hyperbolic fit, completes target positioning.This method lifts clutter recognition effect while more complete reservation target information, carries
The high precision of target positioning.
Brief description of the drawings
Fig. 1 is GPR buried target localization method flow chart in the present embodiment；
Fig. 2 is Bidimensional Empirical Mode Decomposition algorithm flow chart in the present embodiment；
Fig. 3 is GPR actual measurement B-Scan echoes in the present embodiment；
Fig. 4 be the present embodiment in using Bidimensional Empirical Mode Decomposition extract first IMF after image；
Fig. 5 is the geometry site figure of radar antenna and target B-Scan echoes in the present embodiment；
Fig. 6 is plotted in the design sketch on original B-Scan images for matched curve in the present embodiment.
Embodiment
Below in conjunction with the accompanying drawings, technical scheme is described in detail.
As shown in figure 1, the GPR buried target detection method bag based on two-dimensional empirical mode decomposition of the present embodiment
Include following steps：
1) two-dimensional empirical mode decomposition is carried out to the detection echo data of GPR, obtains what K frequency was successively decreased successively
Two-dimensional empirical modal function component IMF and 1 residual error；
2) it regard the average of preceding M (M≤K) two-dimensional empirical modal function components as the characteristic value for detecting echo data；
3) extreme point of the characteristic value of the detection echo data is obtained, the estimate of buried target vertex position is used as；
4) spread speed of the estimation electromagnetic wave in underground；
5) according to the estimate and electromagnetic wave of the buried target vertex position underground spread speed, using visiting land mine
Up to hyperbola mathematical modeling, hyperbolic fit is carried out, the positioning of buried target position is completed.
Above-mentioned steps are described in detail below：
Step 1) in GPR B-Scan detection echo data carry out two-dimensional empirical mode decomposition, empirical mode decomposition
Process can use decomposable process of the prior art, as shown in Fig. 2 the two-dimensional empirical mode decomposition that the present embodiment is preferably as follows
Process：
Step1 determines the detection echo data I of GPR firstresAll extreme points, it is specific to use eight neighborhood side
Method determines IresImage all maximum and minimum；
Detection echo data Is of the Step2 to GPRresAll extreme points enter row interpolation using RBF, insert
Maximum point and minimum point after value use E respectivelyIAnd ESRepresent, detection echo data I is obtained after carrying out curve fittingres's
Upper and lower envelope；
RBF RBF concrete form is：
Wherein：S is RBF (RBF), pmIt is polynomial of lower degree, such as linear or secondary or d variable mthIt is multinomial
Formula, | | | | represent euclideam norm.λiIt is RBF coefficients, Φ is real-valued function, it is RBF RBF to be commonly referred to as
Center.
Step3 seeks the average E of upper and lower envelopeM=(EI+ES)/2；
Step4 detects echo data I from originalresIn subtract EM, obtain new detection echo data
Step5 judges according to IMF decision conditionsWhether it is an IMF, if an IMF, makes first two-dimensional empirical
Mode function component (IMF)ForResidual errorOtherwise, useInstead of Ires, repeat step a)~d) until
JudgeFor an IMF, first two-dimensional empirical modal function component (IMF) is madeForResidual error
So repeat, until obtaining two-dimensional empirical modal function component IMF and 1 residual error that K frequency is successively decreased successively.
The IMF decision conditions are setting SD threshold values,
Wherein,WithTo pass through i-ththThe double attenuation results of individual pattern, M, N represent two dimensional image
Line number and columns,Represent i-ththThe data of the m rows n row of the jth time decay of individual Mode Decomposition.Preset in practice
One threshold value T, stops iteration when SD is less than the threshold value, that is, judgesIt is an IMF.
The two-dimensional empirical modal function component IMF that K frequency is successively decreased successively from high to low is finally obtained according to the method described above
With 1 residual error.
For step 2) in the present embodiment preferably before M (M≤K) two-dimensional empirical modal function frequency components average conduct
The characteristic value of echo data is detected, as shown in figure 4, can be with clutter reduction while this feature value reservation target location.
The step 3) in learn that target echo has Hyperbolic Feature, the vertical seat on hyperbola summit according to GPR principle
Mark represents most short echo time delay, i.e., nearest in this measuring point GPR distance objective.Therefore, the detection of selection is scanned by column
The characteristic value of echo data, chooses minimum value, determines the ordinate on hyperbola summit, hyp abscissa just represents target pair
The horizontal level answered.
For step 4) as shown in figure 5, by GPR principle, obtaining GPR hyperbola mathematical modeling：
Wherein, x represents aerial position, x0The horizontal coordinate of representative points position is represented, v represents biography of the electromagnetic wave in underground
Broadcast speed, t0Expression aerial position is x0Target reflection echo time delay, t represent aerial position be x target reflection echo when
Prolong.Therefore, apex coordinate (x is obtained0,t0) and velocity of wave v can be accurately positioned target, there are three parameters to need to estimate point here
It is not to obtain apex coordinate (x0,t0) and velocity of wave v.
In above-mentioned steps 3) in have estimated that representative points coordinate (x0,t0), the estimation to velocity of wave v is described in detail below
Process：
A) the minimum value V of a velocity of wave is selectedmin, the skew under given speed value is calculated using frequency-wavenumber migration method
As a result；
B) entropy of image after skew is calculated according to the following equation, E is calculated as1；
C) speed step delta V is selected, V is usedmin+ Δ V, Vmin+ 2 Δ V, Vmin+ 3 Δ V ..., to step 2) in treat
The detection echo data arrived carries out calculations of offset, until speed reaches the predetermined value V of maximummaxIf sharing n speed parameter, meter
The image entropy after skew is calculated, E is as a result designated as2, E3..., until En。
D) the corresponding velocity amplitude of entropy smallest point is found, the value is most rational migration velocity parameter v.
The preferred aforesaid way estimation velocity of wave v of the present embodiment, as other embodiment, estimates velocity of wave v's in the prior art
Mode has a lot, is no longer discussed in detail here.
For step 5) by step 3) the representative points position that estimates, step 4) the speed v that estimates brings spy into
In ground radar hyperbola mathematical modeling, hyperbola of fit, as shown in fig. 6, completing the positioning of GPR target.
Specific embodiment is presented above, but the present invention is not limited to described embodiment.The base of the present invention
This thinking is above-mentioned basic scheme, for those of ordinary skill in the art, according to the teachings of the present invention, designs various changes
The model of shape, formula, parameter simultaneously need not spend creative work.It is right without departing from the principles and spirit of the present invention
The change, modification, replacement and modification that embodiment is carried out are still fallen within protection scope of the present invention.
Claims (5)
1. a kind of GPR buried target detection method based on two-dimensional empirical mode decomposition, it is characterised in that including as follows
Step：
1) two-dimensional empirical mode decomposition is carried out to the B-Scan detection echo datas of GPR, obtains K frequency and successively decrease successively
Two-dimensional empirical modal function component IMF and 1 residual error；
2) it regard the average of preceding M (M≤K) two-dimensional empirical modal function components as the characteristic value for detecting echo data；
3) extreme point of the characteristic value of the detection echo data is obtained, the estimate of buried target vertex position is used as；
4) spread speed of the estimation electromagnetic wave in underground；
5) GPR pair is utilized in the spread speed of underground according to the estimate and electromagnetic wave of the buried target vertex position
Curve mathematic model, carries out hyperbolic fit, completes the positioning of buried target position.
2. a kind of GPR buried target detection method based on two-dimensional empirical mode decomposition according to claim 1, its
Be characterised by, the step 1) in GPR detection echo data carry out two-dimensional empirical mode decomposition detailed process
For：
A) the detection echo data I of GPR is determined firstresAll extreme points；
B) to the detection echo data I of GPRresAll extreme points entered using RBF after row interpolation, interpolation
Maximum point and minimum point use E respectivelyIAnd ESRepresent, detection echo data I is obtained after carrying out curve fittingresUpper and lower bag
Network；
C) the average E of upper and lower envelope is soughtM=(EI+ES)/2；
D) from original detection echo data IresIn subtract EM, obtain new detection echo data
E) judged according to two-dimensional empirical modal function component IMF decision conditionsWhether it is a two-dimensional empirical modal function component
IMF, if a two-dimensional empirical modal function component IMF, makes first two-dimensional empirical modal function component IMFForIt is residual
DifferenceOtherwise, useInstead of Ires, repeat step a)~d) and until judgingFor a two-dimensional empirical modal letter
Number component IMF, makes first two-dimensional empirical modal function component IMFForResidual errorSo repeat, directly
To obtaining two-dimensional empirical modal function component IMF and 1 residual error that K frequency is successively decreased successively.
3. a kind of GPR buried target detection method based on two-dimensional empirical mode decomposition according to claim 1, its
Be characterised by, the step 3) in the acquisition modes of estimate of buried target vertex position be：Scan by column the detection of selection
The characteristic value of echo data, chooses minimum value, determines the ordinate on hyperbola summit, hyp abscissa just represents target pair
The horizontal level answered.
4. a kind of GPR buried target detection method based on two-dimensional empirical mode decomposition according to claim 1, its
Be characterised by, the step 4) in using frequency wave beam deflection method and combine propagation of the minimum entropy technique estimation electromagnetic wave in underground
Speed.
5. a kind of GPR buried target detection method based on two-dimensional empirical mode decomposition according to claim 1, its
Be characterised by, the step 5) in GPR hyperbola mathematical modeling be：
<mrow>
<mfrac>
<msup>
<mi>t</mi>
<mn>2</mn>
</msup>
<msubsup>
<mi>t</mi>
<mn>0</mn>
<mn>2</mn>
</msubsup>
</mfrac>
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<mfrac>
<mrow>
<mn>4</mn>
<msup>
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</msub>
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</mrow>
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</mrow>
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<mi>v</mi>
<mn>2</mn>
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</mrow>
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<mo>=</mo>
<mn>1</mn>
</mrow>
Wherein, x represents aerial position, x0The horizontal coordinate of representative points position is represented, v represents propagation speed of the electromagnetic wave in underground
Degree, t0Expression aerial position is x0Target reflection echo time delay, t represent aerial position be x target reflection echo time delay.
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| CN106405660A (en) * | 2016-08-26 | 2017-02-15 | 国脉科技股份有限公司 | Buried depth detecting device and method of communication pipeline |
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