CN108415093B - Target detection and identification method - Google Patents

Target detection and identification method Download PDF

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CN108415093B
CN108415093B CN201710072404.5A CN201710072404A CN108415093B CN 108415093 B CN108415093 B CN 108415093B CN 201710072404 A CN201710072404 A CN 201710072404A CN 108415093 B CN108415093 B CN 108415093B
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CN108415093A (en
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张晓娟
李雅德
谢吴鹏
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Institute of Electronics of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/38—Processing data, e.g. for analysis, for interpretation, for correction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/02—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with propagation of electric current
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
    • G01V3/10—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices using induction coils
    • G01V3/104—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices using induction coils using several coupled or uncoupled coils

Abstract

The invention provides a target detection and identification method, which comprises the following steps: selecting a plurality of observation points, exciting a target at each observation point by detection equipment, acquiring a secondary field response value of the target, and recording coordinate values of the observation points and the secondary field response value observed by the observation points; establishing a dipole model; performing inversion iterative operation on the three-dipole model to obtain target parameters; and establishing an evaluation model, and evaluating the target parameters by using the evaluation model to obtain target characteristics. According to the method, a target parameter is inverted by adopting a three-dipole model, three-dimensional characteristics of a target can be represented by three-dimensional dipoles, and the target characteristics are obtained by adopting an evaluation model, so that the target can be identified more accurately; the method has high recognition accuracy for the regular-shaped target, and has high recognition accuracy for the irregular-shaped target compared with the traditional method.

Description

Target detection and identification method
Technical Field
The invention relates to the technical field of underground target detection, in particular to a target detection and identification method.
Background
The time domain electromagnetic method is a time domain artificial source electromagnetic nondestructive detection method based on the electromagnetic induction principle. The method is to send a primary pulse magnetic field to the underground, after a primary excitation field is turned off, an induced eddy current excited by an underground target generates an induced electromagnetic field which changes along with time, and as the secondary field contains rich information of the target, the response is extracted and analyzed, so that the aim of detecting the underground target is fulfilled. Compared with other underground target detection devices, the time domain electromagnetic device has the characteristics of real-time display, simple instrument, rich detection target information, high detection efficiency and the like, has a plurality of applications in the civil and military fields, and is widely applied to the fields of pipeline detection, archaeology, unexploded bomb detection and the like. However, in practical use, due to the existence of sundries such as underground steel bars and waste metal fragments, the false alarm rate of metal small target detection is very high, blind excavation not only can greatly increase detection cost, but also can happen when pipelines are dug off and vestige is damaged, and even can threaten the safety of lives and properties in the detection of unexploded objects.
Therefore, underground target recognition is widely concerned, especially underground small target recognition with irregular deformation and inclined placement, such as bronze ware in burial, buried mines, unexploded ammunition and the like.
The method is a simple and effective identification method, and is characterized in that a secondary field generated by an underground target is equivalent to a field generated by a target central magnetic dipole, and the target is judged by inverted magnetic dipole information. The traditional orthogonal gravity center double-magnetic dipole equivalent method can well identify rotationally symmetric three-dimensional targets such as mines, unexploded bombs and the like, but has larger identification errors for some three-dimensional targets with irregular shapes.
Disclosure of Invention
Technical problem to be solved
The invention mainly aims to develop a target identification method using a magnetic dipole equivalent target and provide a convenient and reliable target detection and identification method to meet the requirements in practical engineering application.
(II) technical scheme
The invention provides a target detection and identification method, which comprises the following steps: a detection step: selecting a plurality of observation points, exciting a target at each observation point by time domain electromagnetic detection equipment, acquiring a secondary field response value of the target, and recording coordinate values of the observation points and the secondary field response value observed by the observation points; modeling: establishing a dipole model; and inversion iteration step: performing inversion iterative operation on the three-dipole model to obtain target parameters; an evaluation step: and establishing an evaluation model, and evaluating the target parameters by using the evaluation model to obtain target characteristics.
Preferably, the inversion iteration step comprises: setting initial values of three-dimensional coordinates, inclination angles and intensity values of the three dipoles at each time gate of a target, and taking the initial values as pre-estimated values of inversion iteration; and inputting the estimated value, the coordinate value of the observation point, the secondary field response value observed by the observation point and the coil configuration information of the detection equipment into the three-dipole model, and carrying out iterative solution on the three-dipole model to obtain target parameters.
Preferably, the iteratively solving the three dipole model comprises: carrying out iterative solution on the three-dipole model, and obtaining a target parameter if iteration is converged; otherwise, increasing the number of the observation points or changing the positions of the observation points, and returning to the detection step to start execution until the target parameters are obtained.
Preferably, the three-dipole model is iteratively solved using one of a gaussian-newton method, a Tikhonov regularization method, a confidence domain method, a steepest descent method, a bi-conjugate gradient method, a newton-conjugate gradient method, a truncated conjugate gradient method, a gradient operator method, a genetic algorithm, simulated annealing, and a least squares method.
Preferably, the evaluation model comprises: target size, target attenuation rate, target symmetry, and target axial ratio.
Preferably, the first and second electrodes are formed of a metal,
Figure BDA0001222797840000021
Figure BDA0001222797840000022
Figure BDA0001222797840000023
Figure BDA0001222797840000024
wherein L is1(t1)、L2(t1) And L3(t1) Respectively represent a first, a second and a third couplePole at t1Intensity value of time gate, Li(t1) Representing individual dipoles at time gate t1Intensity value of Li(tn) Representing individual dipoles at time gate tnIntensity value of L1(tj)、L2(tj) And L3(tj) Respectively showing the first, second and third dipoles at tjIntensity value of time gate.
Preferably, in the detecting step, the detecting device excites the target at the same position and obtains a secondary field response value of the target, and the position is used as an observation point; or, the detection device excites the target at one position, obtains the secondary field response value of the target at another different position, and takes the position where the secondary field response value of the target is obtained as an observation point.
Preferably, the number of observation points is greater than 8.
Preferably, the coil configuration information includes a transmitting-receiving distance of the coil, the number of turns and the size of the transmitting coil and the receiving coil, and a transmitting current; the transmitting coil is a single-axis coil, a double-axis coil or a three-axis coil, and the receiving coil is a single-axis coil, a double-axis coil or a three-axis coil.
Preferably, the target parameters include three-dimensional coordinates of the target, tilt angle, and intensity value of the three dipoles at each time gate.
(III) advantageous effects
According to the technical scheme, the target detection and identification method has the following beneficial effects:
the target parameters are inverted by adopting a three-dipole model, dipoles with three dimensions can represent the three-dimensional characteristics of the target, and the target characteristics are obtained by adopting an evaluation model, so that the target can be identified more accurately; the method has high recognition accuracy for the regular-shaped target, and has high recognition accuracy for the irregular-shaped target compared with the traditional method.
Drawings
FIG. 1 is a flowchart of a target detection and identification method according to an embodiment of the present invention;
FIG. 2 is a diagram of a detection scenario in accordance with an embodiment of the present invention;
FIG. 3 is a diagram of a quadratic field response value distribution according to an embodiment of the present invention;
FIG. 4 is a graph of an inversion of dipole intensity for an embodiment of the present invention;
FIG. 5 is another dipole intensity inversion plot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
Referring to fig. 1, a method for detecting and identifying objects in the subsurface using time domain electromagnetic detection equipment according to an embodiment of the present invention, in which method,
firstly, the detection step: selecting a plurality of observation points at different positions above the target, exciting the target at each observation point by the time domain electromagnetic detection equipment, acquiring a secondary field response value of the target, and recording coordinate values of the observation points and the secondary field response value observed by the observation points.
The scenario of the detection step is shown in fig. 2. The detection scene comprises detection coordinate systems x, y and z and target local coordinate systems x ', y ' and z ', and the observation point coordinate values refer to coordinate values of the observation points in the detection coordinate systems and represent position coordinates of the detection equipment during detection. According to the type of the adopted detection equipment, the detection equipment can excite a target at the same position and acquire a secondary field response value of the target, and the position is taken as an observation point; the detection device can also excite the target at one position and acquire the secondary field response value of the target at another different position, and the position of the acquired secondary field response value of the target is used as an observation point. The number of observation points is preferably greater than 8.
Secondly, a modeling step: establishing a three-dipole model, wherein the three-dipole model is expressed as:
Figure BDA0001222797840000041
Figure BDA0001222797840000042
Figure BDA0001222797840000043
wherein, i is 1, 2, 3, which respectively represents a first dipole, a second dipole, and a third dipole; u. of0＝4π×10-7Denotes the vacuum permeability;
Figure BDA0001222797840000045
the value of the primary excitation field at the center of the target is obtained by calculation according to the radius of the transmitting coil, the number of turns of the transmitting coil and the transmitting current by utilizing the Pilsfaval law, wherein the radius of the transmitting coil, the number of turns of the transmitting coil and the transmitting current belong to coil configuration information of the detection equipment;
Figure BDA0001222797840000046
one coordinate axis representing the local coordinate system of the object may be
Figure BDA0001222797840000047
Or
Figure BDA0001222797840000049
Representing the standard magnetic dipole vector, the directions of which are respectively along the target local coordinate system, wherein
Figure BDA00012227978400000410
Co-directional with the z' -axis, i.e. along the axis of rotational symmetry of the target, and
Figure BDA00012227978400000411
and
Figure BDA00012227978400000412
the axes are respectively in the same direction with the x 'and y', namely perpendicular to the rotational symmetry axis of the target; (4) representing a transformation relationship between a target local coordinate system and a target global coordinate system; alpha is the included angle between the y 'axis of the target local coordinate system and the y axis of the detection coordinate system, and beta is the included angle between the z' axis of the target local coordinate system and the z axis of the detection coordinate system;
Figure BDA00012227978400000413
transmitting coil (x) representing a detecting devicet，yt，zt) A position vector to the target (X, Y, Z),
Figure BDA00012227978400000414
Figure BDA00012227978400000415
transmitting coil (x) representing a detecting devicet，yt，zt) To the receiving coil (x)r，yr，zr) Is determined by the position vector of (a),u0＝4π×10-7denotes the vacuum permeability; l is1(tn)、L2(tn) And L3(tn) Respectively showing the first dipole, the second dipole and the third dipole at the time gate tnThe intensity value of (a);
Figure BDA0001222797840000051
a secondary field representing a standard magnetic dipole of a particular orientation;representing the secondary field response value of the observation point.
Followed by an inversion iteration step: and carrying out inversion iterative operation on the three-dipole model to obtain target parameters.
The target parameters include the three-dimensional coordinates of the target, the tilt angle, and the intensity values of the three dipoles at each time gate.
In the step, firstly, setting initial values of three-dimensional coordinates, inclination angles and intensity values of three dipoles at each time gate of a target, and taking the initial values as pre-estimated values of inversion iteration; the three-dimensional coordinate X, Y, Z is the coordinate value of the target in the detection coordinate system, the tilt angle α is the angle between the y 'axis of the target local coordinate system and the y axis of the detection coordinate system, and the tilt angle β is the angle between the z' axis of the target local coordinate system and the z axis of the detection coordinate system, as shown in fig. 2.
And then inputting the estimated value, the coordinate value of the observation point, the secondary field response value observed by the observation point and the coil configuration information of the detection equipment into the three-dipole model, and carrying out iterative solution on the three-dipole model to obtain the target parameters.
Specifically, the gaussian-newton method may be used to iteratively solve the triple dipole model, and if the iteration converges, the following equation (5) is used
Figure BDA0001222797840000053
If the result is less than the required error, the inversion is considered to be successful, and the target parameter, W, is obtaineddA matrix of weights representing each observation point,a matrix of quadratic field response values representing each observation point in the three dipole model,
Figure BDA0001222797840000055
a matrix of quadratic field response values representing observations at each observation point,representing an error factor.
The target parameters include three-dimensional coordinates X, Y, Z of the target, tilt angles α, β of the target, and intensity values L of the three dipoles at each time gate1(t)、L2(t)、L3(t) of (d). The coil configuration information is the parameters of the detection device itself, including the transmitting and receiving distances of the coil, the sizes and the number of turns of the transmitting coil and the receiving coil, and the transmitting currentAfter the used detection equipment is selected, the coil configuration information can be determined.
Otherwise, if the iteration is not converged, increasing the number of the observation points or changing the positions of the observation points, and returning to the detection step again to start execution until the target parameters are obtained.
In addition to iterative solution of the triple dipole model by using the gauss-Newton method, iterative solution may be performed by using other methods, for example, a Newton type method of nonlinear inverse problems such as a Tikhonov regularization method, a gauss-Newton method, a confidence domain method, gradient type methods such as a steepest descent method, a double conjugate gradient, a Newton-conjugate gradient method, a truncated conjugate gradient method, a gradient operator method, a genetic algorithm, simulated annealing, a least square method, and the like.
And finally, an evaluation step: and establishing an evaluation model, and evaluating the target parameters obtained in the inversion iteration step by using the evaluation model to obtain target characteristics.
Specifically, the evaluation model is represented as:
Figure BDA0001222797840000061
Figure BDA0001222797840000062
Figure BDA0001222797840000063
Figure BDA0001222797840000064
wherein L is1(t1)、L2(t1) And L3(t1) At t for the first, second and third dipoles respectively1Intensity value of time gate, Li(t1) Representing individual dipoles at time gate t1Intensity value of Li(tn) Representing individual dipoles at time gate tnIntensity value of L1(tj)、L2(tj) And L3(tj) Respectively showing the first, second and third dipoles at tjA strength value of the time gate; t is t1Generally, the time gate of the early stage is selected, tnThe last time gate is typically taken. After the target characteristics are obtained through the evaluation model, the target can be identified according to the target characteristics.
The above specific formula of the evaluation model is only for illustration, but the present invention is not limited thereto, and the definitions of the target size, the target attenuation rate, the target symmetry and the target axial ratio include any transformation formula weighted by coefficients.
The underground small target is identified by the target detection and identification method.
The target is a cylindrical steel barrel with the length of 20cm, the diameter of 10cm and the wall thickness of 0.4cm, the cylindrical steel barrel is placed at a detection coordinate system (0, 0, -0.33), the center of the target is buried by 33cm, and the target is obliquely placed at an angle of alpha-45 degrees and beta-45 degrees.
The initial pre-estimation value is set as X1 m, Y1 m, Z1 m, alpha 1rad, beta 1rad, L1(t)＝1、L2(t)＝1、L3(t) 1. The detection equipment selects four time gates, and the time is 0.63ms, 0.69ms, 0.81ms and 1.01ms after the field is turned off once.
The adopted time domain electromagnetic detection equipment has the coil transmitting-receiving distance of 4cm, 40 turns of a transmitting coil, 60 turns of a receiving coil and 1.5A of transmitting current.
The mobile detection device observes the target on 5 × 5 grid points, the distance between the grid points is 10cm, the experimental scene is referred to fig. 2, and the measured secondary field response value is shown in fig. 3.
And (3) inverting the iterative triple dipole model, iterating by adopting a Gauss-Newton method, setting the weight of all observation points to be 1, obtaining target parameters after iterative convergence, setting the three-dimensional coordinate X to be-0.4 cm, the three-dimensional coordinate Y to be-2 cm, the three-dimensional coordinate Z to be-31 cm, the inclination angle alpha of the target to be-41 degrees, the three-dimensional coordinate beta to be 44 degrees, and the intensity value of the triple dipole at each time gate, taking the first time gate of 0.63ms as an example, and setting the L to be 44 degrees, wherein the first time1(t1)＝1.9、L2(t1)＝0.9、L3(t1) 0.9. Log (L) the dipole intensity values for each time gatei(tn) Plotted as shown in fig. 4.
And (5) substituting the inverted dipole intensity values into the equations (6), (7), (8) and (9) to obtain the characteristics of the target. The result was a target size of 3.278; the attenuation rate was 2.13, which corresponds to the attenuation rate of the steel material; the symmetry is 0.086, which is small and can be considered as a rotationally symmetric body; the axial ratio was 2.45 and greater than 1, and was considered to be a rod.
The asymmetric object can be identified by the same method, and the target is a rectangular steel empty box with the length of 22cm, the width of 12cm, the height of 6cm and the wall thickness of 0.2 cm. The target is placed at a detection coordinate system (0, 0, -0.29), the center of the target is buried by 29cm, and alpha is 30 degrees and beta is 0 degrees in the vertical direction.
And obtaining the target parameters after iterative convergence by adopting the same method, weight and estimated value as the above example. The three-dimensional coordinate X-3.0 cm, Y-2.6 cm, Z-26.2 cm, the tilt angle α of the target 48.6 °, β -35.6 °, and the intensity values of the three dipoles at the respective time gates. The dipole intensity values for each time gate are plotted logarithmically, log (li (tn)), as shown in fig. 5. The characteristics of the target are obtained similarly in the formulae (6), (7), (8) and (9). The result is a target size of 2.510 (the result is smaller than in the previous example because the object walls are thinner); the attenuation rate is 2.03, which corresponds to the attenuation rate of the steel material; the symmetry is 5.380, which is a large value and can be considered to be non-rotationally symmetric; the axial ratio was 1.54, greater than 1, and was considered to be a rod.
Therefore, the target parameters are inverted by adopting the three-dipole model, the three-dimensional characteristics of the target can be represented by the dipoles with three dimensions, and the target characteristics are obtained by adopting the evaluation model, so that the target can be identified more accurately; the method has high recognition accuracy for the regular-shaped target, and has high recognition accuracy for the irregular-shaped target compared with the traditional method.
So far, the embodiments of the present invention have been described in detail with reference to the accompanying drawings. From the above description, those skilled in the art should clearly recognize the object detection and recognition method of the present invention.
It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. In addition, the above definitions of the respective elements are not limited to the various manners mentioned in the embodiments, and those skilled in the art may easily modify or replace them, for example:
(1) directional phrases used in the embodiments, such as "upper", "lower", "front", "rear", "left", "right", etc., refer only to the orientation of the attached drawings and are not intended to limit the scope of the present invention;
(2) the embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e. technical features in different embodiments may be freely combined to form further embodiments.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. An object detection and identification method, comprising:
a detection step: selecting a plurality of observation points, exciting a target at each observation point by time domain electromagnetic detection equipment, acquiring a secondary field response value of the target, and recording coordinate values of the observation points and the secondary field response value observed by the observation points;
modeling: establishing a dipole model;
and inversion iteration step: performing inversion iterative operation on the three-dipole model to obtain target parameters;
an evaluation step: establishing an evaluation model, and evaluating the target parameters by using the evaluation model to obtain target characteristics;
the evaluation model is expressed as
Figure FDA0002211157290000012
Figure FDA0002211157290000013
Figure FDA0002211157290000014
Wherein L is1(t1)、L2(t1) And L3(t1) Respectively showing the first, second and third dipoles at t1Intensity value of time gate, Li(t1) Representing individual dipoles at time gate t1Intensity value of Li(tn) Representing individual dipoles at time gate tnIntensity value of L1(tj)、L2(tj) And L3(tj) Respectively showing the first, second and third dipoles at tjIntensity value of time gate.
2. The method of object detection and identification of claim 1 wherein the step of iterative inversion comprises:
setting initial values of three-dimensional coordinates, inclination angles and intensity values of the three dipoles at each time gate of a target, and taking the initial values as pre-estimated values of inversion iteration;
and inputting the estimated value, the coordinate value of the observation point, the secondary field response value observed by the observation point and the coil configuration information of the detection equipment into the three-dipole model, and carrying out iterative solution on the three-dipole model to obtain target parameters.
3. The method for object detection and identification as claimed in claim 2 wherein the iterative solving of the three dipole model comprises:
carrying out iterative solution on the three-dipole model, and obtaining a target parameter if iteration is converged; otherwise, increasing the number of the observation points or changing the positions of the observation points, and returning to the detection step to start execution until the target parameters are obtained.
4. The method of claim 3, wherein the three-dipole model is iteratively solved using one of a Gaussian-Newton method, a Tikhonov regularization method, a confidence domain method, a steepest descent method, a bi-conjugate gradient method, a Newton-conjugate gradient method, a truncated conjugate gradient method, a gradient operator method, a genetic algorithm, simulated annealing, and a least squares method.
5. An object detection and identification method according to claim 1, wherein the evaluation model comprises: target size, target attenuation rate, target symmetry, and target axial ratio.
6. The object detecting and identifying method according to claim 1, wherein in the detecting step, the detecting device excites the object at the same position and obtains a secondary field response value of the object, and the position is taken as an observation point; or, the detection device excites the target at one position, obtains the secondary field response value of the target at another different position, and takes the position where the secondary field response value of the target is obtained as an observation point.
7. The method for object detection and identification as claimed in claim 6 wherein the number of observation points is greater than 8.
8. The object detection and identification method of claim 2, wherein the coil configuration information includes a transmitting-receiving distance of the coil, the number of turns and size of the transmitting coil and the receiving coil, and a transmitting current; the transmitting coil is a single-axis coil, a double-axis coil or a three-axis coil, and the receiving coil is a single-axis coil, a double-axis coil or a three-axis coil.
9. The method for object detection and identification as claimed in claim 1 wherein the object parameters include three dimensional coordinates of the object, tilt angle and intensity values of the three dipoles at each time gate.
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