CN112014816A - Double-pass travel time calculation method based on improved horizon tracking algorithm - Google Patents
Double-pass travel time calculation method based on improved horizon tracking algorithm Download PDFInfo
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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
- G01S7/418—Theoretical aspects
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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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- 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
- G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
Abstract
The invention discloses a double-pass travel time calculation method based on an improved horizon tracking algorithm. Firstly, determining the layer number of the region to be measured and the approximate range of the dielectric constant according to B-scan of echo data of the region to be measured received by the ground penetrating radar and prior information of an engineering background. And establishing a region to be detected on the basis of the prior information, and acquiring an echo signal. Randomly taking an echo signal, setting a first peak of the echo signal as a seed point, sampling by using a search window, projecting the determined seed point to a next echo to establish a correlation window, sliding the search window to sample in the correlation window and sampling the nearest peak outside the correlation window. And determining the position of a new seed point by calculating the cosine value of the sampling data of the previous seed point. After all seed point positions are obtained, calculation is carried out, and the double-pass time of the improved horizon tracking algorithm can be obtained.
Description
Technical Field
The invention relates to the field of ground penetrating radar signal processing, in particular to a double-travel time calculation method based on an improved horizon tracking algorithm.
Background
The ground penetrating radar can realize the characteristic of nondestructive detection, and the ground penetrating radar medium level technology has wide application prospect in the fields of military and civil use.
In the ground penetrating radar medium layering mode in the prior art, a certain position (such as a wave crest, a wave trough and the like) for receiving an echo signal is used for tracking, so that the position information in an underground medium layer is obtained, and the calculation can be directly carried out based on the echo information.
However, the method has the defect of low tracking precision when the thickness of the dielectric layer is greatly changed, so that an accurate result cannot be obtained under the condition of calculating the double-pass time by using the technology.
Disclosure of Invention
The invention aims to provide a double-pass time-lapse computing method based on an improved horizon tracking algorithm, and aims to solve the problems that in the prior art, when the thickness of a dielectric layer changes greatly, the tracking precision is not high, and an accurate result cannot be obtained.
In order to achieve the above object, the present invention employs a method for calculating a two-way travel time based on an improved horizon tracking algorithm, comprising the following steps,
acquiring the number of layers and the range of dielectric constant of a region to be detected;
establishing a layered medium model, determining echo signals of all layers of the layered medium model, and calculating the thickness of all layers of the layered medium model through a wave velocity formula;
taking one echo signal to carry out peak searching, setting a first peak of the echo signal as an initial seed point, recording the serial number of a sampling point corresponding to the initial seed point, setting a searching window by taking the initial seed point as a center, sampling a signal in the searching window and recording the signal as a first vector;
taking another echo signal, finding the position of the initial seed point in the echo signal, setting a correlation window by taking the position as the center, sliding the search window forwards and backwards in the range of the correlation window, forming a second vector by sampling points in the search window when the search window slides forwards or backwards once, and recording the cosine values of the second vector and the first vector recorded by the search window;
taking the nearest peak outside the relevant window, setting the search window sample for the peak, calculating the cosine value of the peak and the first vector, comparing the cosine value of the peak with the cosine value of the second vector and the first vector, and taking the largest cosine value to record;
repeatedly searching a peak in the echo signal to record the maximum cosine value, and recording the sequence number of the seed point corresponding to the sampling point of each echo signal to obtain the horizon information of the seed point;
and subtracting the sampling points of adjacent layers in the echo signal to obtain the number of the sampling points between two layers in the layered medium model, and multiplying the number of the sampling points by the sampling time interval to obtain the two-way travel time.
In the step of obtaining the layer number and the dielectric constant range of the area to be tested, obtaining B-Scan, geological structure background or engineering background and other prior information of echo data of the area to be tested received by the ground penetrating radar for analysis.
In the step of calculating the thickness of each layer of the layered medium model by using a wave velocity formula, the thickness of each layer of the layered medium model is as follows:
diis the thickness of the ith layer, tiThe first arrival time of the echo signal corresponding to the interface of the ith layer, c is the speed of the light propagating in the air,ithe dielectric constant of the ith layer.
Wherein, in the step of establishing the layered dielectric model, the layered dielectric model is composed of a thickness and a dielectric constant representation of each layer.
Wherein, the sampling of the echo signals is started from the same time, and the sampling step length is the same.
Wherein, in the step of sliding the search window forwards and backwards, the sliding of the search window forwards and backwards is the sequence number s of the sampling point corresponding to the seed point obtained by projectionkAnd as the center, respectively moving the center position of the sequence in the positive and negative directions and sampling to form a new vector.
Wherein in the sliding the search window forward and backward steps, the first vector X and the cosine value of the second vector, the first vector being a ═ a1,a2,…,an]The second vector is B ═ B1,b2,…,bn]The cosine value is calculated by the following formula:
in the step of subtracting sampling points of adjacent horizons in the echo signal, a calculation formula of the two-way travel is as follows:
t＝ts×Δs
wherein t is the time of two-way travel, tsFor the sampling time interval, Δ s is the difference between the level information of the upper and lower layers, i.e., the number of sampling points between the upper and lower layers.
The invention relates to a double-pass time-lapse computing method based on an improved horizon tracking algorithm, which comprises the steps of establishing a layered medium model by acquiring the number of layers of a region to be measured and the range of dielectric constant, determining echo signals of each layer of the layered medium model, calculating the thickness of each layer of the layered medium model by a wave velocity formula, taking the nearest wave peak outside the relevant window, setting the search window sample, calculating the cosine values of the search window sample and the first vector, comparing the cosine values of the first vector and the second vector, taking the largest cosine value to record, and obtaining the horizon information of the seed point, and carrying out subtraction calculation on sampling points of adjacent layers in the echo signal to obtain the number of the sampling points between two layers in the layered medium model, and multiplying the number of the sampling points by the sampling time interval to obtain accurate two-way travel time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the layered media model of the present invention.
FIG. 2 is a schematic diagram of a tracking process according to the present invention.
FIG. 3 is a schematic diagram of another tracking process according to the present invention.
FIG. 4 is a diagram of dual layer media level information.
FIG. 5 is a graph of the timing results of a bilayer dielectric layer.
FIG. 6 is a graph of inversion results of two-pass inversion of a two-layer dielectric layer.
FIG. 7 is a graph of the original two-pass inversion results for a two-layer dielectric layer.
FIG. 8 is a three-layer media level information map.
FIG. 9 is a graph of the timing results for three dielectric layers.
FIG. 10 is a graph of inversion results of a two-pass inversion of three dielectric layers.
FIG. 11 is a graph of the original two-pass inversion results for three dielectric layers.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 11, the method for calculating the two-pass travel time based on the improved horizon tracking algorithm of the present invention includes the following steps of obtaining the number of layers and the range of the dielectric constant of the region to be measured; establishing a layered medium model, determining echo signals of all layers of the layered medium model, and calculating the thickness of all layers of the layered medium model through a wave velocity formula; taking one echo signal to carry out peak searching, setting a first peak of the echo signal as an initial seed point, recording the serial number of a sampling point corresponding to the initial seed point, setting a searching window by taking the initial seed point as a center, sampling a signal in the searching window and recording the signal as a first vector; taking another echo signal, finding the position of the initial seed point in the echo signal, setting a correlation window by taking the position as the center, sliding the search window forwards and backwards in the range of the correlation window, forming a second vector by sampling points in the search window when the search window slides forwards or backwards once, and recording the cosine values of the second vector and the first vector recorded by the search window; taking the nearest peak outside the relevant window, setting the search window sample for the peak, calculating the cosine value of the peak and the first vector, comparing the cosine value of the peak with the cosine value of the second vector and the first vector, and taking the largest cosine value to record; repeatedly searching a peak in the echo signal to record the maximum cosine value, and recording the sequence number of the seed point corresponding to the sampling point of each echo signal to obtain the horizon information of the seed point; and subtracting the sampling points of adjacent layers in the echo signal to obtain the number of the sampling points between two layers in the layered medium model, and multiplying the number of the sampling points by the sampling time interval to obtain the two-way travel time.
In the present embodiment, first, the number of layers and the approximate range of the dielectric constant of the area to be measured are determined based on a priori information such as B-scan of echo data of the area to be measured received by the ground penetrating radar, a geological structure background, a construction background, and the like. Secondly, a layered medium model is established, and the thickness of each layer is calculated by using the first arrival time of each layer of echo signals through a wave velocity formula. The echoes are then imaged back by calculating the two-way travel time of the improved horizon tracking algorithm. And selecting a reference signal from the echo signals, and setting the serial number of the sampling point corresponding to the echo wave crest as the position of the seed point. And calculating the cosine function of each seed point by searching sliding samples of the window and the related window and samples of the nearest wave peak outside the window. And repeating the steps to obtain the seed points of all the echo signals. And finally, calculating the two-pass travel of each antenna, inverting each measuring point to obtain geological information of the layered region to be measured, and analyzing the data of the received echoes of the ground penetrating radar to realize the inversion of the layered medium.
In a specific example of the present embodiment, in step 1, the number of layers n and the approximate range of the dielectric constant of the region to be measured [ n ], [ 2 ] are determined from the prior information such as the B-scan of the echo data of the region to be measured received by the ground penetrating radar, the geological structure background, or the engineering backgroundi,min,i,max]。
In step 2, a layered media model is established. As shown in FIG. 1, let the dielectric constant of the i-th layer beiThickness diThen the layered medium model can be represented by 2n parameters, i.e.
p＝[1,…,n,d1,…,dn]
And then calculating the thickness of each layer by using the wave velocity formula when the first arrival of each layer of echo signals is utilized, wherein the thickness of the medium layer is as follows:
wherein, tiAnd c is the speed of light propagating in the air when the first time of the echo signal corresponding to the interface of the ith layer arrives. In this case, the layered medium model can be expressed by the dielectric constant of each layer of the medium, i.e.
p'＝[1,…,n]
In step 3, the k-th channel echo data is used as a reference channel. As shown in fig. 2, a peak on the reference trace is selected as an initial seed point, and a sequence number s of a sampling point corresponding to the initial seed point is recordedk. Setting the size of a search window to be n-9 by taking the seed point as a center, and forming data of the n sampling points into a vector X-X1,x2,…,xn]。
In step 4, as shown in FIG. 3, the track s is found in the k +1 echo signalkAnd by skAnd setting the size of the correlation window to be T-18 for the center, sliding the search window forwards and backwards within the range of the correlation window, forming a new vector by sampling points in the search window every time of sliding, and calculating the cosine values of the new vector and the vector X. After all cosine values in the correlation window are calculated, selecting a peak which is outside the correlation window and is closest to the correlation window, taking values by using windows of 9 sampling data, and calculating the rest cosine values.
It can be understood that, in the detailed step of step 4, first, the search window slides forward and backward to obtain the serial number s of the sampling point corresponding to the projected seed pointkAnd as the center, respectively moving the center position of the sequence in the positive and negative directions and sampling to form a new vector. Secondly, the specific range of the forward sliding and the backward sliding of the search window in the relevant window is as follows:
wherein L is the serial number s of the sampling point of the seed pointkAs a central relative range. The cosine values of the vector X and the new vector are calculated, and it can be assumed that the two vectors are X ═ X1,x2,…,xn]And Y ═ Y1,y2,…,yn]Then, the cosine values of the two vectors are calculated as:
in step 5, comparing cosine values calculated from the k +1 channel echo signals, the point with the largest cosine value being the seed point of the channel echo signal, and the serial number of the seed point of the k +1 channel echo signal being recorded as sk+1。
In the next step 6, repeating steps 4, 5 and 6 from the forward direction and the backward direction, and recording the serial number of the sampling point corresponding to each data seed point to obtain the level information S where the seed point is located (S ═ S)1,s2,…sK)。
And 7, after the horizon information in the echo signal is obtained, subtracting the sampling points of adjacent horizons in the echo data of the same measuring point to obtain the number of the sampling points between the two horizons, and multiplying the number of the sampling points by the sampling time interval to obtain the double-range travel time. The calculation formula of the double-stroke travel time is as follows:
t＝ts×Δs
wherein t is the time of two-way travel, tsFor the sampling time interval, Δ s is the difference between the level information of the upper and lower layers, i.e., the number of sampling points between the upper and lower layers.
In order to further explain the technical effect which can be achieved by the double-pass time-lapse computing method based on the improved horizon tracking algorithm, the following simulation experiment is carried out.
As shown in FIG. 4, in experiment 1, the magnetic permeability of the layered model including the two-layer medium was set to 1H/m and 0.005S/m, respectively, for the magnetic permeability and the electric conductivity of the medium model. The first and second layers, respectively, have corresponding relative dielectric constants of 6 and 20, respectively, depending on the depth of the buried layer from top to bottom. There are 101 stations in the model, one station every 10 cm. Due to the fact that the thickness of the double-layer medium of each measuring point is different, in the process of inverting the model, 101 measuring points are inverted respectively, and then 101 sets of solutions obtained through inversion are integrated to obtain an inversion result. The results of the two-pass time calculation method based on the improved horizon tracking algorithm and the original two-pass time calculation method are inverted, and the results can be obtained as shown in fig. 5 to 7.
As shown in FIG. 8, a layered model comprising three layers of media was created, with the permeability being such that the permeability and conductivity of the media model were 1H/m and 0.005S/m, respectively. The first, second and third layers, respectively, have corresponding relative dielectric constants of 6, 20 and 12, respectively, depending on the depth of the buried layer from top to bottom. There are 101 stations in the model, one station every 10 cm. Because the thicknesses of three layers of media of each measuring point are different, 101 measuring points are respectively inverted in the inversion process of the model, and then 101 sets of solutions obtained by inversion are integrated to obtain an inversion result. The double-travel time calculation method based on the improved horizon tracking algorithm and the original double-travel time calculation method are applied for inversion. The results are shown in FIGS. 9 to 11.
It can be understood that the experiments and the computer simulation experiments show that the method has a good medium layering effect, and the effectiveness and the reliability of the method are proved.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A double-travel time calculation method based on an improved horizon tracking algorithm is characterized by comprising the following steps,
acquiring the number of layers and the range of dielectric constant of a region to be detected;
establishing a layered medium model, determining echo signals of all layers of the layered medium model, and calculating the thickness of all layers of the layered medium model through a wave velocity formula;
taking one echo signal to carry out peak searching, setting a first peak of the echo signal as an initial seed point, recording the serial number of a sampling point corresponding to the initial seed point, setting a searching window by taking the initial seed point as a center, sampling a signal in the searching window and recording the signal as a first vector;
taking another echo signal, finding the position of the initial seed point in the echo signal, setting a correlation window by taking the position as the center, sliding the search window forwards and backwards in the range of the correlation window, forming a second vector by sampling points in the search window when the search window slides forwards or backwards once, and recording the cosine values of the second vector and the first vector recorded by the search window;
taking the nearest peak outside the relevant window, setting the search window sample for the peak, calculating the cosine value of the peak and the first vector, comparing the cosine value of the peak with the cosine value of the second vector and the first vector, and taking the largest cosine value to record;
repeatedly searching a peak in the echo signal to record the maximum cosine value, and recording the sequence number of the seed point corresponding to the sampling point of each echo signal to obtain the horizon information of the seed point;
and subtracting the sampling points of adjacent layers in the echo signal to obtain the number of the sampling points between two layers in the layered medium model, and multiplying the number of the sampling points by the sampling time interval to obtain the two-way travel time.
2. The method of claim 1, wherein in the step of obtaining the number of layers and the range of dielectric constants of the region under test,
and acquiring prior information such as B-Scan, geological structure background or engineering background of the echo data of the area to be detected received by the ground penetrating radar, and analyzing.
3. The method of claim 2, wherein the step of calculating the thickness of each layer of the layered medium model according to the wave velocity formula comprises:
wherein d isiIs the thickness of the ith layer, tiThe first arrival time of the echo signal corresponding to the interface of the ith layer, c is the speed of the light propagating in the air,ithe dielectric constant of the ith layer.
4. The method of two-pass computation based on an improved horizon-tracking algorithm of claim 3 characterized in that in the step of establishing a layered medium model, the layered medium model is composed of a thickness and dielectric constant representation of each layer.
5. The method of claim 4, wherein the echo signals are sampled from the same time with the same sampling step size.
6. The method for calculating two-way travel time based on the improved horizon tracking algorithm according to any one of claims 1 to 5, wherein in the step of sliding the search window forwards and backwards, the sliding of the search window forwards and backwards is a sequence number s of a sampling point corresponding to the projected seed pointkAnd as the center, respectively moving the center position of the sequence in the positive and negative directions and sampling to form a new vector.
7. The method of claim 6, wherein the method comprises performing a double-pass computation based on the improved horizon tracking algorithmSliding the search window forward and backward, wherein the first vector X and the second vector have cosine values, and the first vector is a ═ a1,a2,…,an]The second vector is B ═ B1,b2,…,bn]The cosine value is calculated by the following formula:
8. the method of claim 7, wherein in the step of subtracting the sampling points of adjacent horizons in the echo signal, the formula of the two-way travel calculation is:
t＝ts×Δs
wherein t is the time of two-way travel, tsFor the sampling time interval, Δ s is the difference between the level information of the upper and lower layers, i.e., the number of sampling points between the upper and lower layers.
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