CN112433209A - Method and system for detecting underground target by ground penetrating radar based on generalized likelihood ratio - Google Patents
Method and system for detecting underground target by ground penetrating radar based on generalized likelihood ratio Download PDFInfo
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- CN112433209A CN112433209A CN202011157390.5A CN202011157390A CN112433209A CN 112433209 A CN112433209 A CN 112433209A CN 202011157390 A CN202011157390 A CN 202011157390A CN 112433209 A CN112433209 A CN 112433209A
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- 230000000149 penetrating effect Effects 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 45
- 230000001629 suppression Effects 0.000 claims abstract description 27
- 230000005284 excitation Effects 0.000 claims description 18
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 238000013179 statistical model Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S7/414—Discriminating targets with respect to background clutter
Abstract
The application relates to a method and a system for detecting underground targets by a ground penetrating radar based on a generalized likelihood ratio, wherein the method comprises the following steps: carrying out noise suppression on the detected echo signals of the underground targets; performing clutter suppression on the echo signal subjected to noise suppression to obtain a target echo signal; and acquiring hyperbolic-shaped features formed by the target echo signals by adopting a generalized likelihood method according to the distribution condition of a hyperbolic curve formed by the target echo signals in a plurality of continuous axial scanning A-scan images, and acquiring a detection result of the ground penetrating radar on the underground target according to the hyperbolic-shaped features. The method for detecting the underground target by the ground penetrating radar based on the generalized likelihood ratio has better detection performance, and the underground target can be more clearly and accurately positioned.
Description
Technical Field
The application relates to the technical field of ground penetrating radar, in particular to a method and a system for detecting an underground target by the ground penetrating radar based on a generalized likelihood ratio.
Background
At present, in the detection of underground targets of ground penetrating radar, two general typical methods are mainly used, namely geometric feature detection based on ground penetrating radar images and hypothesis testing based on statistical models. The geometric feature detection method mainly utilizes the characteristic that a target echo in a B-scan image of the ground penetrating radar is in a hyperbolic shape, and realizes target detection by detecting the hyperbolic curve in the B-scan image. The currently widely adopted hyperbolic curve detection method is based on Hough transformation, and the method accumulates the energy of echo data along a specific hyperbolic curve, so that B-scan data is transformed into an accumulation parameter space, and the position of an accumulation peak value is a corresponding target parameter. The statistical model hypothesis test method models signals and clutter noise based on a statistical principle, performs hypothesis test, deduces detection statistics, and judges whether a target exists or not by comparing the detection statistics with a threshold.
However, the above geometric feature detection method achieves the purpose of detecting the underground target by detecting the hyperbola in the B-scan image, but in general, due to the non-uniform radar detection environment, a strict hyperbola shape cannot be obtained, such as a case where the hyperbola is distorted or broken, which may result in the reduction of the detection performance. Meanwhile, the method only utilizes the power characteristics of echo data to accumulate energy, cannot fully utilize other statistical characteristics of the target and clutter, and has obvious reduction in detection performance for the target with low signal-to-clutter ratio.
The statistical model hypothesis testing method highly depends on the accuracy of the statistical model, and obtains better detection performance when the adopted model is consistent with the actual situation, and once the model hypothesis is not consistent with the actual situation, the hypothesis model cannot be established at all, so that the detection performance is greatly reduced. Most of the existing statistical detection methods model background noise or clutter as gaussian distribution, and the actual background environment usually presents more complex non-gaussian characteristics.
Disclosure of Invention
The embodiment of the application provides a method and a system for detecting an underground target by a ground penetrating radar based on a generalized likelihood ratio, so as to solve the technical problem of poor performance of detecting the underground target by the ground penetrating radar in the related technology.
In a first aspect, a method for detecting an underground target by a ground penetrating radar based on a generalized likelihood ratio is provided, which includes the steps of performing data processing on an echo signal of a detected underground target, where the data processing specifically includes:
performing noise suppression on echo signals of the detected underground target, wherein the noise comprises receiver external noise and receiver internal noise;
performing clutter suppression on the echo signals subjected to noise suppression to obtain target echo signals, wherein the clutter comprises direct coupling waves, ground reflected waves and underground harmful reflected waves among the receiving and transmitting antennas;
and acquiring hyperbolic-shaped features formed by the target echo signals by adopting a generalized likelihood method according to the distribution condition of a hyperbolic curve formed by the target echo signals in a plurality of continuous axial scanning A-scan images, and acquiring a detection result of the ground penetrating radar on the underground target according to the hyperbolic-shaped features.
In some embodiments, before the data processing of the echo signals of the detected subsurface target, the method further comprises the steps of:
transmitting an excitation signal required by the ground penetrating radar;
amplifying the transmitted excitation signal;
transmitting electromagnetic waves to underground targets according to the excitation signals;
receiving electromagnetic wave signals reflected by underground targets;
and carrying out data acquisition on the electromagnetic wave signals reflected by the received underground target to obtain the echo signals of the detected underground target.
In some embodiments, after the data processing of the echo signals of the detected subsurface target, the method further comprises the steps of:
and displaying the underground target according to the detection result of the ground penetrating radar on the underground target.
In some embodiments, the obtained detection result of the ground penetrating radar on the underground target is a profile of the ground penetrating radar.
In some embodiments, the receiver external noise comprises antenna noise and the receiver internal noise comprises noise generated by thermal motion of electronics inside the receiver.
The embodiment of the application also provides a system for detecting the underground target by the ground penetrating radar based on the generalized likelihood ratio, which comprises a signal processing module for performing data processing on the echo signal of the detected underground target, wherein the signal processing module is specifically used for:
performing noise suppression on echo signals of the detected underground target, wherein the noise comprises receiver external noise and receiver internal noise; performing clutter suppression on the echo signals subjected to noise suppression to obtain target echo signals, wherein the clutter comprises direct coupling waves, ground reflected waves and underground harmful reflected waves among the receiving and transmitting antennas; and acquiring hyperbolic-shaped features formed by the target echo signals by adopting a generalized likelihood method according to the distribution condition of a hyperbolic curve formed by the target echo signals in a plurality of continuous axial scanning A-scan images, and acquiring a detection result of the ground penetrating radar on the underground target according to the hyperbolic-shaped features.
In some embodiments, the system for detecting a subsurface target by using a ground penetrating radar based on a generalized likelihood ratio further comprises:
the wave form generating module is used for transmitting an excitation signal required by the ground penetrating radar;
the transmitter module is used for amplifying the transmitted excitation signal;
a transmitting antenna module for transmitting electromagnetic waves to an underground target according to the excitation signal;
the receiving antenna module is used for receiving electromagnetic wave signals reflected by the underground target;
and the receiver module is used for carrying out data acquisition on the electromagnetic wave signals reflected by the received underground target to obtain the detected echo signals of the underground target.
In some embodiments, the system for detecting a subsurface target by using a ground penetrating radar based on a generalized likelihood ratio further comprises:
and the terminal display module is used for displaying the underground target according to the detection result of the ground penetrating radar on the underground target.
In some embodiments, the obtained detection result of the ground penetrating radar on the underground target is a profile of the ground penetrating radar.
In some embodiments, the receiver external noise comprises antenna noise and the receiver internal noise comprises noise generated by thermal motion of electronics inside the receiver.
The beneficial effect that technical scheme that this application provided brought includes: the detection performance is better, and the underground target can be positioned more clearly and accurately.
The embodiment of the application provides a method for detecting an underground target by a ground penetrating radar based on a generalized likelihood ratio, noise suppression and clutter suppression are firstly carried out on echo signals of the detected underground target, then, according to the distribution condition of a hyperbola formed by the echo signals of the target in axial scanning images, the generalized likelihood method is adopted, integral statistic detection is carried out on the hyperbola, certain correlation and stability are achieved between a plurality of continuous axial scanning images due to the hyperbola formed by the echo signals of the target, the residual correlation of noise and clutter is weak, at the moment, the strength of the obtained echo signals of the target is strong, the strength of the noise and the clutter is weak, higher signal-to-noise ratio gain is obtained, the detection performance of the underground target is improved, the detection performance is better, and the underground target can be positioned more clearly and more accurately.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flowchart of a method for detecting a subsurface target by a ground penetrating radar based on a generalized likelihood ratio according to an embodiment of the present application;
FIG. 2 is a flow chart of data processing of echo signals of a detected subsurface target provided by an embodiment of the present application;
fig. 3 is a block diagram of a system for detecting a subsurface target by using a ground penetrating radar based on a generalized likelihood ratio according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, an embodiment of the present application provides a method for detecting a subsurface target by a ground penetrating radar based on a generalized likelihood ratio, which includes the steps of:
s1: transmitting an excitation signal required by the ground penetrating radar;
s2: amplifying the transmitted excitation signal;
s3: transmitting electromagnetic waves to underground targets according to the excitation signals;
s4: receiving electromagnetic wave signals reflected by underground targets;
s5: carrying out data acquisition on the electromagnetic wave signals reflected by the received underground target to obtain the echo signals of the detected underground target;
s6: and processing the detected echo signals of the underground targets.
Referring to fig. 2, in the embodiment of the present application, in step S6, the processing of the detected echo signal of the underground target specifically includes:
s601: performing noise suppression on echo signals of the detected underground target, wherein the noise comprises receiver external noise and receiver internal noise;
s602: performing clutter suppression on the echo signals subjected to noise suppression to obtain target echo signals, wherein the clutter comprises direct coupling waves, ground reflected waves and underground harmful reflected waves among the receiving and transmitting antennas;
s603: and acquiring hyperbolic-shaped features formed by the target echo signals by adopting a generalized likelihood method according to the distribution condition of a hyperbolic curve formed by the target echo signals in a plurality of continuous axial scanning A-scan images, and acquiring a detection result of the ground penetrating radar on the underground target according to the hyperbolic-shaped features.
The embodiment of the application provides a method for detecting an underground target by a ground penetrating radar based on a generalized likelihood ratio, noise suppression and clutter suppression are firstly carried out on echo signals of the detected underground target, then, according to the distribution condition of a hyperbola formed by the echo signals of the target in axial scanning images, the generalized likelihood method is adopted, integral statistic detection is carried out on the hyperbola, certain correlation and stability are achieved between a plurality of continuous axial scanning images due to the hyperbola formed by the echo signals of the target, the residual correlation of noise and clutter is weak, at the moment, the strength of the obtained echo signals of the target is strong, the strength of the noise and the clutter is weak, higher signal-to-noise ratio gain is obtained, the detection performance of the underground target is improved, the detection performance is better, and the underground target can be positioned more clearly and more accurately.
Further, in the embodiment of the present application, after the data processing is performed on the echo signals of the detected underground target, the method further includes the steps of:
s7: and displaying the underground target according to the detection result of the ground penetrating radar on the underground target.
In the embodiment of the application, the underground target is displayed according to the detection result of the ground penetrating radar on the underground target, so that the underground target can be displayed more intuitively.
Furthermore, in the embodiment of the present application, the obtained detection result of the ground penetrating radar on the underground target is a profile of the ground penetrating radar.
Further, in embodiments of the present application, the receiver external noise comprises antenna noise and the receiver internal noise comprises noise generated by thermal motion of electronics inside the receiver.
Referring to fig. 3, an embodiment of the present application further provides a system for detecting a subsurface target by using a ground penetrating radar based on a generalized likelihood ratio, which includes a waveform generation module, a transmitter module, a transmitting antenna module, a receiving antenna module, a receiver module, and a signal processing module.
The waveform generation module is used for transmitting an excitation signal required by the ground penetrating radar; the transmitter module is used for amplifying the transmitted excitation signal; the transmitting antenna module is used for transmitting electromagnetic waves to an underground target according to the excitation signal; the receiving antenna module is used for receiving electromagnetic wave signals reflected by the underground target; the receiver module is used for carrying out data acquisition on the electromagnetic wave signals reflected by the received underground target to obtain the echo signals of the detected underground target; the signal processing module is used for carrying out data processing on the detected echo signals of the underground targets.
The signal processing module is specifically configured to: performing noise suppression on echo signals of the detected underground target, wherein the noise comprises receiver external noise and receiver internal noise; performing clutter suppression on the echo signals subjected to noise suppression to obtain target echo signals, wherein the clutter comprises direct coupling waves, ground reflected waves and underground harmful reflected waves among the receiving and transmitting antennas; and acquiring hyperbolic-shaped features formed by the target echo signals by adopting a generalized likelihood method according to the distribution condition of a hyperbolic curve formed by the target echo signals in a plurality of continuous axial scanning A-scan images, and acquiring a detection result of the ground penetrating radar on the underground target according to the hyperbolic-shaped features.
The embodiment of the application provides a method for detecting an underground target by a ground penetrating radar based on a generalized likelihood ratio, noise suppression and clutter suppression are firstly carried out on echo signals of the detected underground target, then, according to the distribution condition of a hyperbola formed by the echo signals of the target in axial scanning images, the generalized likelihood method is adopted, integral statistic detection is carried out on the hyperbola, certain correlation and stability are achieved between a plurality of continuous axial scanning images due to the hyperbola formed by the echo signals of the target, the residual correlation of noise and clutter is weak, at the moment, the strength of the obtained echo signals of the target is strong, the strength of the noise and the clutter is weak, higher signal-to-noise ratio gain is obtained, the detection performance of the underground target is improved, the detection performance is better, and the underground target can be positioned more clearly and more accurately.
Furthermore, in the embodiment of the application, the system for detecting the underground target by the ground penetrating radar based on the generalized likelihood ratio further comprises a terminal display module, wherein the terminal display module is used for displaying the underground target according to the detection result of the ground penetrating radar on the underground target, so that the underground target can be displayed more intuitively.
Furthermore, in the embodiment of the present application, the obtained detection result of the ground penetrating radar on the underground target is a profile of the ground penetrating radar.
Further, in embodiments of the present application, the receiver external noise comprises antenna noise and the receiver internal noise comprises noise generated by thermal motion of electronics inside the receiver.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for detecting underground targets by a ground penetrating radar based on a generalized likelihood ratio is characterized by comprising the following steps of carrying out data processing on echo signals of the detected underground targets, wherein the data processing process specifically comprises the following steps:
performing noise suppression on echo signals of the detected underground target, wherein the noise comprises receiver external noise and receiver internal noise;
performing clutter suppression on the echo signals subjected to noise suppression to obtain target echo signals, wherein the clutter comprises direct coupling waves, ground reflected waves and underground harmful reflected waves among the receiving and transmitting antennas;
and acquiring hyperbolic-shaped features formed by the target echo signals by adopting a generalized likelihood method according to the distribution condition of a hyperbolic curve formed by the target echo signals in a plurality of continuous axial scanning A-scan images, and acquiring a detection result of the ground penetrating radar on the underground target according to the hyperbolic-shaped features.
2. The method for detecting underground targets by using the ground penetrating radar based on the generalized likelihood ratio as claimed in claim 1, wherein before the data processing is performed on the echo signals of the detected underground targets, the method further comprises the following steps:
transmitting an excitation signal required by the ground penetrating radar;
amplifying the transmitted excitation signal;
transmitting electromagnetic waves to underground targets according to the excitation signals;
receiving electromagnetic wave signals reflected by underground targets;
and carrying out data acquisition on the electromagnetic wave signals reflected by the received underground target to obtain the echo signals of the detected underground target.
3. The method for detecting the underground target by the ground penetrating radar based on the generalized likelihood ratio as claimed in claim 1, wherein: after the data processing is carried out on the echo signals of the detected underground targets, the method further comprises the following steps:
and displaying the underground target according to the detection result of the ground penetrating radar on the underground target.
4. The method for detecting the underground target by the ground penetrating radar based on the generalized likelihood ratio as claimed in claim 1, wherein: and the obtained detection result of the ground penetrating radar on the underground target is a profile of the ground penetrating radar.
5. The method for detecting the underground target by the ground penetrating radar based on the generalized likelihood ratio as claimed in claim 1, wherein: the receiver external noise includes antenna noise and the receiver internal noise includes noise generated by thermal motion of electronics inside the receiver.
6. A system for detecting a subsurface target by using a ground penetrating radar based on a generalized likelihood ratio is characterized by comprising a signal processing module for performing data processing on an echo signal of a detected subsurface target, wherein the signal processing module is specifically used for:
performing noise suppression on echo signals of the detected underground target, wherein the noise comprises receiver external noise and receiver internal noise; performing clutter suppression on the echo signals subjected to noise suppression to obtain target echo signals, wherein the clutter comprises direct coupling waves, ground reflected waves and underground harmful reflected waves among the receiving and transmitting antennas; and acquiring hyperbolic-shaped features formed by the target echo signals by adopting a generalized likelihood method according to the distribution condition of a hyperbolic curve formed by the target echo signals in a plurality of continuous axial scanning A-scan images, and acquiring a detection result of the ground penetrating radar on the underground target according to the hyperbolic-shaped features.
7. The system of claim 6, further comprising:
the wave form generating module is used for transmitting an excitation signal required by the ground penetrating radar;
the transmitter module is used for amplifying the transmitted excitation signal;
a transmitting antenna module for transmitting electromagnetic waves to an underground target according to the excitation signal;
the receiving antenna module is used for receiving electromagnetic wave signals reflected by the underground target;
and the receiver module is used for carrying out data acquisition on the electromagnetic wave signals reflected by the received underground target to obtain the detected echo signals of the underground target.
8. The system of claim 6, further comprising:
and the terminal display module is used for displaying the underground target according to the detection result of the ground penetrating radar on the underground target.
9. The system of claim 6, wherein the system comprises: and the obtained detection result of the ground penetrating radar on the underground target is a profile of the ground penetrating radar.
10. The system of claim 6, wherein the system comprises: the receiver external noise includes antenna noise and the receiver internal noise includes noise generated by thermal motion of electronics inside the receiver.
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