CN112180452A - Underground pipeline buried depth estimation method based on ground penetrating radar and three-dimensional velocity spectrum - Google Patents
Underground pipeline buried depth estimation method based on ground penetrating radar and three-dimensional velocity spectrum Download PDFInfo
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Abstract
The invention provides an underground pipeline buried depth estimation method based on a ground penetrating radar and a three-dimensional velocity spectrum. The invention solves the problem that the traditional special pipeline exploring instrument can only detect metal pipelines when detecting the urban underground pipelines.
Description
Technical Field
The invention relates to the technical field of underground engineering nondestructive testing, in particular to an underground pipeline buried depth estimation method based on a ground penetrating radar and a three-dimensional velocity spectrum.
Background
With the rapid development of cities, the distribution of underground pipelines in cities is increasingly complex. At present, due to the reasons that many old pipelines are long in age, lack of management and maintenance, lose design drawings and the like, detailed information such as pipeline positions and burial depths are lost, and hidden dangers are brought to city construction and construction. Therefore, it is important to accurately determine the position and buried depth of the underground pipeline for urban construction and development.
The detection of urban underground pipelines is usually carried out by using a special pipeline detecting instrument to search, track, locate and fix the depth of hidden pipeline sections buried underground, and the principle of the detection is mainly electromagnetic induction. The method has good detection effect on the metal pipeline, but can not detect the nonmetal pipeline, such as a PVC pipe and the like.
Disclosure of Invention
In order to overcome the defects in the prior art, an underground pipeline buried depth estimation method based on a ground penetrating radar and a three-dimensional velocity spectrum is provided so as to solve the problem that the conventional special pipeline exploration instrument is adopted to detect the urban underground pipeline and can only detect the metal pipeline.
In order to achieve the purpose, the underground pipeline buried depth estimation method based on the ground penetrating radar and the three-dimensional velocity spectrum comprises the following steps:
acquiring a ground penetrating radar profile of a road section to be detected for burying an underground pipeline;
extracting a radar section area containing a reflection hyperbola of the underground pipeline from the ground penetrating radar section map, and estimating area parameters of the radar section area, wherein the area parameters comprise width in a distance direction and width in a time direction;
calculating the propagation speed of the electromagnetic wave of the ground penetrating radar in the background medium above the underground pipeline based on the region parameters and the three-dimensional velocity spectrum analysis algorithm;
based on the propagation speed, carrying out backward propagation offset imaging on the ground penetrating radar section map to obtain an offset image;
and determining the burying depth of the underground pipeline in the road section to be measured based on the position of the energy focus in the offset image.
Further, the step of obtaining the ground penetrating radar profile map of the section to be measured in which the underground pipeline is buried comprises:
detecting the ground penetrating radar along the road section to be detected to obtain a plurality of pieces of ground penetrating radar data;
and preprocessing the multi-channel ground penetrating radar data to obtain a profile of the ground penetrating radar, wherein the preprocessing comprises background removal, inter-channel equalization, direct current removal and band-pass filtering.
Further, the step of calculating the propagation speed of the electromagnetic wave of the ground penetrating radar in the background medium above the underground pipeline comprises:
substituting the region parameters into the three-dimensional velocity spectrum analysis algorithm to obtain three-dimensional superposition amplitude data, and performing normalization processing on the three-dimensional superposition amplitude data;
calculating the three-dimensional superposed amplitude data subjected to normalization processing by applying a soft threshold function to obtain a three-dimensional velocity spectrum image;
finding the vertex of the reflection hyperbola along the distance axis of the three-dimensional velocity spectrum image, extracting a velocity slice at the vertex position, and acquiring the propagation velocity of the electromagnetic wave in the background medium according to the point with the strongest energy superposed by the reflection hyperbola in the velocity slice.
Further, the coherent signals of the radar section area are subjected to superposition amplitude calculation to obtain the three-dimensional superposition amplitude data, and the superposition amplitude calculation formula (1) is
i＝1,…nt；j＝1,…nx；k＝1,…nv
In formula (1), f is common offset data in a t-x domain of the radar cross-section area; n is a radical ofiA horizontal calculation region size representing the ith selection; nt, nx, and nv are the number of sampling points per trace, the number of traces, and the velocity number used in the iterative computation, respectively; x is the number ofjRepresenting the horizontal distance between the jth point and the extreme point of the reflection hyperbola; t is ti,j,kBi-directional time, t, of the j-th point of the reflection hyperbolai,j,kObtained by the formula (2), the formula (2) is
In the formula (2), tiIs a stand forThe double travel time of the vertex of the reflection hyperbola; v. ofkIs the speed used in the calculation.
Further, the calculation formula for carrying out normalization processing on the three-dimensional superposition amplitude data is
In the formula (3), L is the width in the time direction.
Further, the soft threshold function is calculated by the formula
In the formula (4), α is an inhibition factor, and the default value is 0.3.
Further, the back propagation offset is calculated by
In the formula (5), x is a distance in an antenna scanning direction (i.e., a survey line direction) of the ground penetrating radar, h is an underground embedding depth of the underground pipeline, s (x, h) is a superimposed amplitude displayed at a coordinate (x, h) in a profile of the ground penetrating radar, R is a propagation distance in the whole process, t is a travel time of the electromagnetic wave, f is an amplitude of a signal, i is a data channel, and v is a propagation speed of the electromagnetic wave in the background medium, wherein R is a superimposed amplitude displayed by a transmitting antenna of the ground penetrating radar after the electromagnetic wave meets a scatterer target and is finally received by the receiving antenna.
The underground pipeline buried depth estimation method based on the ground penetrating radar and the three-dimensional velocity spectrum has the advantages that the underground pipeline buried depth is estimated by the ground penetrating radar and the three-dimensional velocity spectrum, the propagation speed of electromagnetic waves of the ground penetrating radar in a soil medium above the underground pipeline can be automatically and accurately obtained, and the method is further applied to backward propagation offset imaging to realize accurate estimation of the buried depth of various underground pipelines and has good application prospect.
Drawings
Fig. 1 is a cross-sectional view of a ground penetrating radar according to an embodiment of the present invention.
FIG. 2 is a three-dimensional velocity spectrum of an embodiment of the invention.
FIG. 3 is a velocity slice of a three-dimensional velocity spectrum of an embodiment of the present invention.
Fig. 4 is a cross-sectional view of a ground penetrating radar after back-offset imaging according to an embodiment of the invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Fig. 1 is a cross-sectional view of a ground penetrating radar according to an embodiment of the invention, fig. 2 is a three-dimensional velocity spectrum according to an embodiment of the invention, fig. 3 is a velocity slice of the three-dimensional velocity spectrum according to an embodiment of the invention, and fig. 4 is a cross-sectional view of the ground penetrating radar after back-shift imaging according to an embodiment of the invention.
Referring to fig. 1 to 4, the invention provides a method for estimating the buried depth of an underground pipeline based on a ground penetrating radar and a three-dimensional velocity spectrum, which comprises the following steps:
s1: and acquiring a ground penetrating radar profile of the section to be detected in which the underground pipeline is buried.
And measuring the road section to be measured by adopting the ground penetrating radar to obtain the data of the ground penetrating radar.
Specifically, in this embodiment, step S1 includes:
and S11, detecting the ground penetrating radar along the road section to be detected to obtain a plurality of channels of ground penetrating radar data.
In the actual data acquisition process, a TR400 ground penetrating radar of an IDS company and a shielding antenna with the center frequency of 400MHz are used, the data acquisition time window is 40ns, the number of sampling points is 512, and 146-channel ground penetrating radar data are acquired.
And S12, preprocessing the multi-channel ground penetrating radar data to obtain a ground penetrating radar profile, wherein the preprocessing comprises background removal, inter-channel equalization, direct current removal and band-pass filtering.
Referring to fig. 1, after acquiring multiple channels of ground penetrating radar data, the common offset ground penetrating radar data is subjected to background removal, inter-channel equalization, direct current removal, band-pass filtering, zero-time correction and gain processing in sequence to obtain a preprocessed ground penetrating radar profile.
S2: and extracting a radar section area containing a reflection hyperbola of the underground pipeline from the ground penetrating radar section map, and estimating area parameters of the radar section area, wherein the area parameters comprise the width in the distance direction and the width in the time direction.
S3: and calculating the propagation speed of the electromagnetic wave of the ground penetrating radar in the background medium above the underground pipeline based on the region parameters and the three-dimensional velocity spectrum analysis algorithm.
Specifically, step S3 includes the following steps:
and S31, substituting the region parameters into a three-dimensional velocity spectrum analysis algorithm to obtain three-dimensional superposition amplitude data, and performing normalization processing on the three-dimensional superposition amplitude data.
The coherent signals of the radar section area are subjected to superposition amplitude calculation to obtain three-dimensional superposition amplitude data, and a superposition amplitude calculation formula (1) is as follows:
i＝1,…nt；j＝1,…nx；k＝1,…nv
in formula (1), f is common offset data in a t-x domain of the radar cross-section area; n is a radical ofiA horizontal calculation region size representing the ith selection; nt, nx, and nv are the number of sampling points per trace, the number of traces, and the velocity number used in the iterative computation, respectively; x is the number ofjRepresenting the horizontal distance between the jth point and the extreme point of the reflection hyperbola; t is ti,j,kIs the jth of the reflection hyperbolaBidirectional time of point, ti,j,kObtained by formula (2), formula (2) is:
in the formula (2), tiThe two-way travel time of the vertex of the reflection hyperbola; v. ofkIs the speed used in the calculation.
The calculation formula for carrying out normalization processing on the three-dimensional superposed amplitude data is as follows:
in the formula (3), L is a width in the time direction.
And S32, applying a soft threshold function to the three-dimensional superposed amplitude data after normalization processing to calculate and obtain a high-resolution three-dimensional velocity spectrum image.
Wherein, the calculation formula of the soft threshold function is as follows:
in the formula (4), α is an inhibition factor, and the default value is 0.3.
Referring to fig. 2, a high-resolution three-dimensional velocity spectrum image is obtained by applying a soft threshold function calculation to the normalized three-dimensional superimposed amplitude data.
S33, finding the vertex of the reflection hyperbola along the distance axis of the three-dimensional velocity spectrum image, extracting a velocity slice at the vertex position, and acquiring the propagation velocity of the electromagnetic wave of the ground penetrating radar in the background medium according to the superposition energy strongest point A of the reflection hyperbola in the velocity slice.
Continuing to refer to fig. 2, automatically finding the position of the vertex of the reflection hyperbola along the maximum value of the distance axis by a three-dimensional velocity spectrum analysis algorithm, extracting a velocity slice three-dimensional velocity spectrum velocity slice (as shown in fig. 3) of the position, and acquiring the propagation velocity of the electromagnetic wave in the soil medium above the underground pipeline according to the superposed energy strongest point A of the reflection hyperbolas of the underground pipeline in the velocity slice.
S4: and carrying out back propagation offset imaging on the ground penetrating radar section map based on the propagation speed to obtain an offset image.
Specifically, the formula for calculating the back propagation offset is as follows:
in the formula (5), x is a distance in an antenna scanning direction (i.e., a survey line direction) of the ground penetrating radar, h is an underground embedding depth of the underground pipeline, s (x, h) is a superimposed amplitude displayed at a coordinate (x, h) in a profile of the ground penetrating radar, R is a propagation distance in the whole process, t is a travel time of the electromagnetic wave, f is an amplitude of a signal (the electromagnetic wave), i is a data channel, and v is a propagation speed of the electromagnetic wave in a background medium, wherein the electromagnetic wave is reflected after the electromagnetic wave transmitted by a transmitting antenna of the ground penetrating radar meets a scatterer target and is finally received by a receiving antenna.
S5: and determining the burying depth of the underground pipeline in the road section to be measured based on the position of the energy focus in the offset image.
Referring to fig. 4, in the back propagation offset image, the pipeline burial depth is determined according to the position of the offset energy focus, the energy focus or the strongest point B of the focus in fig. 4. The depth of the strongest point B is the embedding depth of the underground pipeline.
The ground penetrating radar is used as an important geophysical detection means, and the principle is that electromagnetic waves are transmitted to the underground through a transmitting antenna of the ground penetrating radar, and then reflected and scattered signals generated in the underground transmission process of the electromagnetic waves are received by a receiving antenna of the ground penetrating radar. According to the propagation rule of electromagnetic waves, the structure and physical property information of an underground (background) medium can be obtained by carrying out data processing and interpretation on signals received by a receiving antenna of the ground penetrating radar. No matter the tube is a metal tube, a PVC tube or a concrete tube, the imaging can be clearly formed in the section view of the ground penetrating radar. However, abnormal disturbances such as incompleteness, distortion, staggering, or uneven amplitudes often occur in the hyperbolic shape corresponding to the subsurface target in the actually measured ground penetrating radar profile, which makes it difficult to confirm the subsurface target.
Three-dimensional velocity spectrum analysis algorithms compute the coherence of the signal at different offsets or different channels along the reflection hyperbolas determined by a series of possible trial velocities, by assuming these trial velocities, and then superimposing the amplitudes. In order to solve the problem that abnormal interference such as incompleteness, distortion, staggering or uneven amplitude and the like often occurs in the reflection hyperbolic shape corresponding to the underground target (namely the underground pipeline) in the actually measured ground penetrating radar profile, a soft threshold function is applied to normalize the superposed amplitude. Finally, the normalized superimposed amplitudes are plotted in a velocity, vertical travel time and line distance map, thereby obtaining a three-dimensional velocity spectrum.
The Back Propagation (BP) offset imaging algorithm is an offset method based on ray theory, and the algorithm increases the superposed amplitude value by stacking the amplitude values of all record tracks in the ground penetrating radar data in an in-phase manner close to each other; on the contrary, when there is no reflection interface or at the diffraction point, the random amplitude values of the respective tracks are not superposed in phase due to the nonuniformity of the background medium, they are partially cancelled out each other, and the total amplitude value after superposition is relatively reduced, thereby completing the automatic homing of the reflected wave and the diffracted wave.
The underground pipeline buried depth estimation method based on the ground penetrating radar and the three-dimensional velocity spectrum comprises the steps of firstly, measuring on a route to be measured by using the ground penetrating radar, obtaining a profile of the ground penetrating radar of the route to be measured, after the ground penetrating radar data is processed, a radar section area containing a reflection hyperbola of an underground pipeline is extracted, a hyperbola parameter estimated from the radar section area is substituted into a three-dimensional velocity spectrum analysis algorithm, the propagation speed of electromagnetic waves of the ground penetrating radar in a background medium (soil) above the underground pipeline is calculated by automatically scanning hyperbolic reflected signals, the radar data is subjected to backward offset imaging by utilizing the speed, the strongest point B of energy focusing or focusing in an energy cluster is automatically picked from a profile image of the ground penetrating radar after offset imaging, the depth of the strongest point B is the burying depth of the underground pipeline, and the accurate positioning of the position of the underground pipeline is further realized.
The underground pipeline buried depth estimation method based on the ground penetrating radar and the three-dimensional velocity spectrum adopts the ground penetrating radar and the three-dimensional velocity spectrum to estimate the underground pipeline buried depth, can automatically and accurately obtain the propagation speed of electromagnetic waves of the ground penetrating radar in a soil medium above the underground pipeline, is further applied to backward propagation offset imaging to realize accurate estimation of the buried depth of various underground pipelines, and has good application prospect.
It should be noted that the structures, ratios, sizes, and the like shown in the drawings attached to the present specification are only used for matching the disclosure of the present specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions of the present invention, so that the present invention has no technical essence, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the invention is to be defined by the scope of the appended claims.
Claims (7)
1. An underground pipeline buried depth estimation method based on a ground penetrating radar and a three-dimensional velocity spectrum is characterized by comprising the following steps:
acquiring a ground penetrating radar profile of a road section to be detected for burying an underground pipeline;
extracting a radar section area containing a reflection hyperbola of the underground pipeline from the ground penetrating radar section map, and estimating area parameters of the radar section area, wherein the area parameters comprise width in a distance direction and width in a time direction;
calculating the propagation speed of the electromagnetic wave of the ground penetrating radar in the background medium above the underground pipeline based on the region parameters and the three-dimensional velocity spectrum analysis algorithm;
based on the propagation speed, carrying out backward propagation offset imaging on the ground penetrating radar section map to obtain an offset image;
and determining the burying depth of the underground pipeline in the road section to be measured based on the position of the energy focus in the offset image.
2. The underground pipeline buried depth estimation method based on the ground penetrating radar and the three-dimensional velocity spectrum according to claim 1, wherein the step of acquiring the ground penetrating radar profile of the section to be measured for burying the underground pipeline comprises the following steps:
detecting the ground penetrating radar along the road section to be detected to obtain a plurality of pieces of ground penetrating radar data;
and preprocessing the multi-channel ground penetrating radar data to obtain a profile of the ground penetrating radar, wherein the preprocessing comprises background removal, inter-channel equalization, direct current removal and band-pass filtering.
3. The underground pipeline buried depth estimation method based on the ground penetrating radar and the three-dimensional velocity spectrum according to claim 1, wherein the step of calculating the propagation speed of the electromagnetic wave of the ground penetrating radar in the background medium above the underground pipeline comprises:
substituting the region parameters into the three-dimensional velocity spectrum analysis algorithm to obtain three-dimensional superposition amplitude data, and performing normalization processing on the three-dimensional superposition amplitude data;
calculating the three-dimensional superposed amplitude data subjected to normalization processing by applying a soft threshold function to obtain a three-dimensional velocity spectrum image;
finding the vertex of the reflection hyperbola along the distance axis of the three-dimensional velocity spectrum image, extracting a velocity slice at the vertex position, and acquiring the propagation velocity of the electromagnetic wave in the background medium according to the point with the strongest energy superposed by the reflection hyperbola in the velocity slice.
4. The underground pipeline buried depth estimation method based on the ground penetrating radar and the three-dimensional velocity spectrum according to claim 3, wherein the coherent signals of the radar cross-section area are subjected to superposition amplitude calculation to obtain the three-dimensional superposition amplitude data, and the superposition amplitude calculation formula (1) is
i＝1,…nt；j＝1,…nx；k＝1,…nv
In formula (1), f is common offset data in a t-x domain of the radar cross-section area; n is a radical ofiA horizontal calculation region size representing the ith selection; nt, nx, and nv are the number of sampling points per trace, the number of traces, and the velocity number used in the iterative computation, respectively; x is the number ofjRepresenting the horizontal distance between the jth point and the extreme point of the reflection hyperbola; t is ti,j,kBi-directional time, t, of the j-th point of the reflection hyperbolai,j,kObtained by the formula (2), the formula (2) is
In the formula (2), tiThe two-way travel time of the vertex of the reflection hyperbola; v. ofkIs the speed used in the calculation.
5. The underground pipeline buried depth estimation method based on the ground penetrating radar and the three-dimensional velocity spectrum according to claim 4, wherein the calculation formula for carrying out normalization processing on the three-dimensional superposition amplitude data is as follows
In the formula (3), L is the width in the time direction.
6. The underground pipeline buried depth estimation method based on the ground penetrating radar and the three-dimensional velocity spectrum according to claim 5, wherein the soft threshold function is calculated by the formula
In the formula (4), α is an inhibition factor, and the default value is 0.3.
7. The underground pipeline buried depth estimation method based on the ground penetrating radar and the three-dimensional velocity spectrum according to claim 6, wherein the back propagation offset is calculated by the formula
In the formula (5), x is a distance in an antenna scanning direction (i.e., a survey line direction) of the ground penetrating radar, h is an underground embedding depth of the underground pipeline, s (x, h) is a superimposed amplitude displayed at a coordinate (x, h) in a profile of the ground penetrating radar, R is a propagation distance in the whole process, t is a travel time of the electromagnetic wave, f is an amplitude of a signal, i is a data channel, and v is a propagation speed of the electromagnetic wave in the background medium, wherein R is a superimposed amplitude displayed by a transmitting antenna of the ground penetrating radar after the electromagnetic wave meets a scatterer target and is finally received by the receiving antenna.
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