CN113126083A - Ground penetrating radar auxiliary positioning method and positioning system based on field video - Google Patents
Ground penetrating radar auxiliary positioning method and positioning system based on field video Download PDFInfo
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- CN113126083A CN113126083A CN202110471448.1A CN202110471448A CN113126083A CN 113126083 A CN113126083 A CN 113126083A CN 202110471448 A CN202110471448 A CN 202110471448A CN 113126083 A CN113126083 A CN 113126083A
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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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
Abstract
The invention provides a ground penetrating radar auxiliary positioning method and system based on a field video, and belongs to the technical field of positioning. The positioning method of the invention comprises the following steps: synchronizing an auxiliary device trigger signal; the ground penetrating radar host starts to collect data; acquiring track number information of each track of data; triggering the camera shooting equipment by the computer to realize the synchronization of the camera shooting equipment snapshot and the acquisition between the ground penetrating radar lanes, and recording the lane number information of each lane of data acquired in the step S2; the computer carries out video coding on the snap shot photo sequence and creates an index according to the track number information; the computer decodes the video and retrieves the live photos according to the index. The invention also provides a positioning system for realizing the ground penetrating radar auxiliary positioning method based on the field video. The invention has the beneficial effects that: the whole-course positioning accuracy of the ground penetrating radar image is ensured, and the positioning accuracy can reach the decimeter level.
Description
Technical Field
The invention relates to a positioning technology, in particular to a ground penetrating radar auxiliary positioning method and a positioning system based on a field video.
Background
The ground penetrating radar is a nondestructive geophysical detection technology for determining the structure of a superficial stratum by utilizing high-frequency electromagnetic waves, and transmits electromagnetic waves to a sensing area through airspace scanning and receives scattered echoes, so that the parameters of the position, the form, the burial depth, the geometric form and the like of an underground target body or layer distribution are determined according to the electrical property difference (the conductivity and the dielectric constant) of an underground medium, and the imaging processing of the interior of an unknown area is realized. The system has the advantages of high data acquisition efficiency, high resolution, nondestructive testing and the like, and is widely applied to various fields of road testing, archaeology, constructional engineering and the like.
Accurate positioning in the data acquisition process of the ground penetrating radar is key. In the prior art, a ground penetrating radar is mainly used for carrying out accurate positioning by adopting a real-time dynamic differential GPS or a total station instrument in the detection process, and a scene photo is obtained by combining full-time video recording time retrieval to carry out auxiliary positioning. The method for acquiring the position information of the ground penetrating radar has the following defects:
(1) the differential GPS is easily influenced by the satellite signal receiving quality on municipal roads, and the satellite signals are often shielded by tall buildings, dense trees, viaducts and the like, so that accurate positioning information cannot be acquired, and the positioning deviation is several meters to dozens of meters;
(2) the total station is limited by the visible distance and cannot meet the requirement of long-distance detection operation;
(3) the full-time video recording time retrieval technology is based on continuous snapshot photo full-time video recording, and the time of a radar acquisition host and the time of a snapshot camera need to be strictly calibrated in advance, so that the time of the two parties is strictly synchronized. Even if the time deviation is not less than 100 milliseconds, under the condition that the vehicle-mounted ground penetrating radar is at normal speed per hour (not less than 40 kilometers per hour), the photo positioning error of the meter level or more is generated; in addition, the storage space occupied by the pause of acquisition (during the red light waiting period) or the too slow vehicle speed and the transmission time of the video file are both consumed very high in the full-time video recording process.
Disclosure of Invention
In order to solve the technical problem that the whole course accurate positioning cannot be realized through methods such as a differential GPS, a total station and a full-time video in the prior art, the invention provides a ground penetrating radar auxiliary positioning method based on a field video and a positioning system for realizing the positioning method.
The invention relates to a ground penetrating radar auxiliary positioning method based on a field video, which comprises the following steps:
step S1: synchronizing an auxiliary device trigger signal;
step S2: the ground penetrating radar host starts to collect data and acquires the track number information of each track of data;
step S3: triggering the camera shooting equipment by the computer to realize the synchronization of the camera shooting equipment snapshot and the acquisition between the ground penetrating radar lanes, and recording the lane number information of each lane of data acquired in the step S2;
step S4: the computer carries out video coding on the snap shot photo sequence and creates an index according to the track number information;
step S5: the computer decodes the video and retrieves the scene photo according to the index, thereby realizing the accurate positioning on the scene.
The invention is further improved in that in step S1, the synchronous auxiliary device is a rotary encoder shared by the ground penetrating radar and the camera device, the rotary encoder and the wheels are coaxially arranged, a trigger signal of the rotary encoder is divided into two paths, one path is introduced into the ground penetrating radar host, the other path is introduced into the computer, and the computer controls the camera device to perform snapshot.
A ground penetrating radar is mounted at the rear part of the wheel type carrier, a rotary encoder is coaxially mounted on wheels of the wheel type carrier, a camera is fixed at the top end of the tail part of the wheel type carrier, and a 45-degree inclination angle of a lens is aligned with the ground behind the ground penetrating radar to form an integrated data acquisition system.
The invention is further improved, in step S2, in the process of collecting the ground penetrating radar data, the host of the ground penetrating radar is triggered by using the upper edge or the lower edge of the pulse generated by the rotary encoder in the process of advancing, so as to realize the inter-track collection of the ground penetrating radar and obtain the track number information of each track of data.
The invention is further improved, in steps S2 and S3, the method for synchronously acquiring the track number information in the process of collecting the ground penetrating radar data comprises the following steps:
(1) vertical section image Bscan (d) of data collected by ground penetrating radarn,tm) N is more than or equal to 1 and less than or equal to Trs, m is more than or equal to 1 and less than or equal to Ss, Trs is the number of image channels of the ground penetrating radar, n is the nth channel of the image of the ground penetrating radar, Ss is the number of sampling points on each channel of data, and m is the mth sampling point on each channel of data, so that the ground penetrating radar is at the horizontal distance dnN · Δ d, Δ d is the sampled track pitch, and the time round trip signal of the ground penetrating radar on the vertical axis is tmM · Δ t, Δ t being the sampling time interval;
(2) the precision delta R of the rotary encoder is R/p, wherein R is the circumference of the rotary encoder, and p is the number of pulses of one rotation of the rotary encoder;
(3) because the acquisition between the ground penetrating radar channels and the camera snapshot are synchronously triggered by the pulse of the rotary encoder, the pulse number received by the ground penetrating radar host and the computer is the same, namely NCAM＝Trs·(Δd/Δr)，NCAMTriggering thresholds for camera pulses every time N are receivedCAMAfter each pulse, the computer sends an instruction to make the camera take a snapshot once.
The invention is further improved, in step S4, the computer stores the track number information recorded by each photo as an index into an index file, the index file includes the frame number of the snapshot and the track number of each track of data, the frame number is the serial number of the snapshot, the track number of the data acquisition is used as a key index, and the precise matching between the ground penetrating radar image track data and the spot snapshot is established according to the track spacing of the ground penetrating radar data acquisition and the precision of the rotary encoder.
The invention is further improved, and the method for establishing the index of the channel number information in the data acquisition process of the ground penetrating radar comprises the following steps:
shooting equipment is adopted at ground penetrating radarSynchronously snapping a photo when each channel of data is collected, wherein the corresponding relation between the channel number information and the position information of each channel of data of the ground penetrating radar is as follows: (Index)n)CAM＝n·(Δd/Δr)＝n·(dn)GPRN is more than or equal to 1 and less than or equal to Trs, wherein Trs is the number of ground penetrating radar image channels, n is the nth channel of the ground penetrating radar image, (Index)n)CAMCorresponding photos synchronously taken during the collection of the nth channel for the ground penetrating radar, delta d is the sampling channel spacing of the ground penetrating radar, delta r is the precision of the rotary encoder, n (delta d/delta r) is the total number of pulses received during the collection of the nth channel by the ground penetrating radar, and n (d)n)GPRPosition information of the nth channel of the collected data is acquired.
The invention also provides a positioning system for realizing the field video-based ground penetrating radar auxiliary positioning method, which comprises a ground penetrating radar for acquiring the underground medium distribution image of the superficial stratum, a camera shooting snapshot system, a camera shooting system and synchronous auxiliary equipment, wherein the camera shooting snapshot system comprises a computer and camera shooting equipment which is connected with the computer and controlled by the computer, the ground penetrating radar comprises a ground penetrating radar host and a ground penetrating radar antenna which is connected with the ground penetrating radar host, the positioning system also comprises the synchronous auxiliary equipment which is respectively connected with the ground penetrating radar host and the computer, and the synchronous auxiliary equipment synchronously sends trigger signals to the ground penetrating radar and the computer so as to realize the synchronization of the acquisition between the camera shooting equipment snapshot and the ground penetrating radar channel.
The invention is further improved, the positioning system is arranged on the wheel type carrier, the synchronous auxiliary equipment is a rotary encoder coaxially arranged with wheels of the wheel type carrier, the ground penetrating radar is arranged at the rear part of the wheel type carrier, the camera equipment is fixed at the top end of the tail part of the wheel type carrier, and the 45-degree inclination angle of the lens is aligned with the ground behind the ground penetrating radar.
The ground penetrating radar further comprises a power supply and a network switch which are arranged above the ground penetrating radar, wherein the network switch is respectively connected with the computer and the ground penetrating radar to realize the internet surfing function, the ground penetrating radar also comprises an electronic connection unit and a communication interface, a ground penetrating radar antenna is connected with a ground penetrating radar host through the electronic connection unit, and the rotary encoder is respectively connected with the ground penetrating radar host and the computer through the communication interface.
Compared with the prior art, the invention has the beneficial effects that: the invention organically combines the ground penetrating radar and the on-site photo snapshot to realize the integrated synchronous acquisition of the data of the two sensors, does not need manual intervention in the data acquisition process, reduces the workload and greatly improves the working efficiency. The correlation between the ground penetrating radar data and the corresponding position snapshot is that the same pulse is adopted to trigger the ground penetrating radar and the snapshot camera, and the precise matching between the ground penetrating radar image channel data and the on-site snapshot is established according to the channel spacing acquired by the ground penetrating radar data and the precision of the rotary encoder, so that the problems that a differential GPS is easily influenced by the satellite signal receiving quality on a municipal road and the defects of a full-time video recording time retrieval technology are fundamentally avoided, the whole-process positioning accuracy of the ground penetrating radar image is ensured, the positioning accuracy can reach the decimeter level, and the requirements of general geological exploration and on-site retest are met.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a positioning system of the present invention;
fig. 2 is a schematic flow chart of a positioning method according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in FIG. 1, the positioning system of the present invention comprises a ground penetrating radar and a camera capture system for obtaining subsurface medium distribution images of superficial formations; the ground penetrating radar comprises a ground penetrating radar host 2 and a ground penetrating radar antenna 1, wherein the ground penetrating radar host 2 controls the data acquisition of the ground penetrating radar. Ground penetrating radar antenna 1 is connected with ground penetrating radar host computer 2 through electron connecting unit 4, and electron connecting unit 4 is connected with ground penetrating radar antenna 1 through the serial ports, and electron connecting unit 4 realizes ground penetrating radar antenna 1 and ground penetrating radar host computer 2's data communication.
The ground penetrating radar antenna 1 includes a transmitting antenna and a receiving antenna. The transmitting antenna is controlled to transmit electromagnetic waves through the ground penetrating radar host 2, the receiving antenna receives the electromagnetic waves of the transmitting antenna, and the ground penetrating radar antenna 1 achieves collection of underground medium images through the electromagnetic waves.
The camera shooting snapshot system comprises an upper computer 7 and a network camera 8, the network camera 8 is connected with the upper computer 7 through a network cable, and the electronic connection unit 4 is connected with the upper computer 7 through the communication interface 3. The rotary encoder 6 is connected with the communication interface 3, and the communication interface 3 is respectively connected with the electronic connection unit 4 and the upper computer 7. The communication interface 3 realizes data communication between the rotary encoder 6 and the ground penetrating radar host 2, and meanwhile, the communication interface 3 is a serial port and transmits a trigger signal of the rotary encoder to the upper computer 7, and the upper computer 7 triggers the network camera 8 to perform on-site snapshot.
The rotary encoder 6 is a high-precision rotary encoder, the rotary encoder 6 triggers the ground penetrating radar host 2 and the upper computer 7 through a standard TTL level trigger signal, and the network camera 8 controlled by the ground penetrating radar host 2 and the upper computer 7 simultaneously acquires data and captures a scene photo, so that effective and accurate data acquisition is realized. The electronic connection unit 4 is fixed on the upper part of the ground penetrating radar antenna 1, and a network switch 5 and a power supply module are arranged above the electronic connection unit 4 and connected with the electronic connection unit 4. The network switch 5 is connected with the ground penetrating radar host 2 and the upper computer 7. The ground penetrating radar antenna 1 is a shielding antenna or a multi-transmitting and multi-receiving shielding antenna array which is arranged in a transceiving mode, and the central frequency of the ground penetrating radar antenna is 170MHz, 200MHz, 450MHz, 500MHz, 800MHz, 1000MHz, 1200MHz or 1600 MHz; the larger the center frequency of the ground penetrating radar antenna is, the smaller the volume is, and the smaller the center frequency is, the larger the volume is. And selecting the ground penetrating radar antennas with different types of ground penetrating radars according to the data acquisition environment. The upper computer 7 triggers the network camera 8 to take a snapshot through a specified communication protocol and stores the scene snapshot to the upper computer 7.
The camera device of the embodiment can also be a smart phone, a camera and the like, and the rotary encoder of the embodiment can also adopt other triggering devices which can accurately trigger the network camera 8 and the ground penetrating radar to synchronously acquire signals.
As an embodiment of the present invention, the ground penetrating radar is mounted on the rear portion of the wheel-type vehicle, the rotary encoder is coaxially mounted on the wheel of the wheel-type vehicle, the camera is fixed on the top end of the rear portion of the wheel-type vehicle, and the 45 ° inclination angle of the lens is aligned to the ground behind the ground penetrating radar, so as to form an integrated data acquisition and positioning system. Of course, other acquisition angles may be provided. Such as 50 degrees, 60 degrees, etc.
The system for capturing and synchronizing the ground penetrating radar and the ground penetrating radar between the lanes organically combines the ground penetrating radar and the scene photo capturing to realize the integrated synchronous acquisition of the data of the two sensors, has a simple structure, realizes the accurate matching between the image lane data of the ground penetrating radar and the scene captured photo, and improves the efficiency of data acquisition and retest of the ground penetrating radar.
As shown in fig. 2, the method for assisting positioning by using a ground penetrating radar based on a live video includes the following steps:
step S1: rotary encoder trigger signal
The rotary encoder rotates along with the wheel and outputs a trigger signal along with the rotation.
Step S2: the ground penetrating radar host starts to collect data
In the data acquisition process of the ground penetrating radar, the upper edge or the lower edge of a pulse generated by a high-precision rotary encoder in the advancing process is utilized to simultaneously trigger a serial port of an upper computer and a host of the ground penetrating radar, so that the data acquisition of the ground penetrating radar and the snapshot of a field photo are synchronously carried out. And simultaneously triggering the ground penetrating radar host and the upper computer by using a pulse signal of a rotary encoder of the ground penetrating radar.
The rotary encoder is a speed displacement sensor integrated with the optical-mechanical-electrical technology. When the rotary encoder shaft drives the grating disk to rotate, light emitted by the light-emitting element is cut into intermittent light rays by the slits of the grating disk, and the intermittent light rays are received by the receiving element to generate an initial signal. The signal is processed by a subsequent circuit and then a pulse or code signal is output. Its advantages are small size, light weight, multiple varieties, full functions, high frequency response, resolution power, low torque, low energy consumption, stable performance, high reliability and long service life. The pulses are triggered according to the distance traveled by the rotary encoder on the ground, and the pulses are standard TTL level signals comprising a rising edge and a falling edge. The trigger signal of the rotary encoder is divided into two paths through an RS232 serial port, one path is introduced into a ground penetrating radar host, the other path is introduced into an upper computer, and the upper computer controls a camera to shoot. Therefore, the synchronous operation of ground penetrating radar data acquisition and scene photo snapshot is realized.
Step S3: computer-triggered camera shooting equipment snapshot
And (3) while the ground penetrating radar data is acquired, pulse signals generated by the rotary encoder in the advancing process are received by the computer through serial port communication, and after the pulse signals reach a pulse triggering threshold value, the computer sends an instruction to trigger the camera to take a snapshot, so that the camera snapshot and the ground penetrating radar channel acquisition are synchronized, and the channel number information of each channel of data acquired in the step two is recorded.
The method for synchronously acquiring the track number information in the data acquisition process of the ground penetrating radar comprises the following steps:
(1) vertical section image Bscan (d) of data collected by ground penetrating radarn,tm) N is more than or equal to 1 and less than or equal to Trs, m is more than or equal to 1 and less than or equal to Ss, Trs is the number of image channels of the ground penetrating radar, n is the nth channel of the image of the ground penetrating radar, Ss is the number of sampling points on each channel of data, and m is the mth sampling point on each channel of data, so that the ground penetrating radar is at the horizontal distance dnN · Δ d, Δ d is the sampled track pitch, and the time round trip signal of the ground penetrating radar on the vertical axis is tmM · Δ t, Δ t being the sampling time interval;
(2) the precision delta R of the rotary encoder is R/p, wherein R is the circumference of the rotary encoder, and p is the number of pulses of one rotation of the rotary encoder;
(3) because the acquisition between the ground penetrating radar channels and the camera snapshot are synchronously triggered by the pulse of the rotary encoder, the pulse number received by the ground penetrating radar host and the computer is the same, namely NCAM＝Trs·(Δd/Δr)，NCAMTriggering thresholds for camera pulses every time N are receivedCAMAfter each pulse, the computer sends an instruction to make the camera take a snapshot once.
Step S4: video coding of a sequence of snap shots and creation of an index by a computer
And recording the track number information of each photo captured in the step S3 as an index and storing the track number information into an index file, wherein the index file is composed of the frame number of the captured photo and the track number of each track of data. The photo frame number is composed of four bytes and is the serial number of the snapshot photo. The data acquisition track number is composed of four bytes and serves as a key index. And establishing accurate matching between the ground penetrating radar image channel data and the scene snapshot photos according to the channel spacing acquired by the ground penetrating radar data and the precision of the rotary encoder.
The method for establishing the index of the channel number information in the ground penetrating radar data acquisition process comprises the following steps:
the camera shooting equipment synchronously takes a picture when the ground penetrating radar collects each channel of data, and the corresponding relation between the channel number information and the position information of each channel of data of the ground penetrating radar is as follows: (Index)n)CAM＝n·(Δd/Δr)＝n·(dn)GPRN is more than or equal to 1 and less than or equal to Trs, wherein Trs is the number of ground penetrating radar image channels, n is the nth channel of the ground penetrating radar image, (Index)n)CAMCorresponding photos synchronously taken during the collection of the nth channel for the ground penetrating radar, delta d is the sampling channel spacing of the ground penetrating radar, delta r is the precision of the rotary encoder, n (delta d/delta r) is the total number of pulses received during the collection of the nth channel by the ground penetrating radar, and n (d)n)GPRPosition information of the nth channel of the collected data is acquired.
The method for video coding of the snap shot photo sequence by the computer in the embodiment is as follows:
and taking the snapshot photo sequence as an original video frame sequence, and encoding and outputting the original video frame sequence into an H.264 or HEVC (H.265) bit stream by adopting an English Viviada display card GPU with encoding capability. The processing method of video coding comprises the following 6 steps:
(1) initializing an encoder;
(2) establishing a coding parameter;
(3) allocating an input/output buffer area;
(4) copying the sequence of video frames to an input buffer and reading the bitstream from an output buffer;
(5) releasing and clearing the input/output buffer area;
(6) the encoder session is closed.
Step S5: the computer decodes the video and retrieves the live pictures according to the index
And decoding the coded video in the step S4 to restore the snapshot photo sequence. And searching the photo sequence according to the track number information key index created in the step four to obtain the photos captured on site.
The method for decoding the video by the computer comprises the following steps:
the H.264 or HEVC (H.265) bit stream is decoded into an original video frame sequence by adopting an Inviada video card GPU with decoding capability, so that a live snapshot photo sequence is restored.
The video decoding process also includes the following 6 steps:
(1) creating a CUDA context container;
(2) establishing a decoder instance;
(3) separating the video stream from the container;
(4) starting to decode the video stream;
(5) destroying the decoder example after decoding;
(6) and destroying the CUDA context container.
After decoding, retrieving the photo sequence according to the key index of the track number information, wherein a lens of the network camera of the embodiment is obliquely arranged by 45 degrees, so that a translation vector is formed by the center of the position of the snapshot photo and the center of the ground penetrating radar antenna, and the actual photo index information of the nth track data of the ground penetrating radar image of the embodiment is as follows: (INDEX)n)CAM＝(Indexn)CAM+Dshift/Δd，(Indexn)CAMAcquisition of the n-th time synchronized snapshot for the ground penetrating radar, DshiftFor the above translation vector distance, Δ d is the sampled lane spacing, so that the road surface can be accurately positioned according to the on-site photos.
The ground penetrating radar and the camera share the rotary encoder to acquire and synchronously trigger the snapshot of the road surface and the surrounding environment photos among the data channels to form a photo sequence and compress the photo sequence into a video, meanwhile, the ground penetrating radar data acquisition channel number information is embedded as a common index, the precise matching between the ground penetrating radar image channel data and the on-site snapshot photos is established according to the channel spacing acquired by the ground penetrating radar data and the precision of the rotary encoder, and the on-site photo positioning function with sub-meter precision is realized through video decoding, retrieval and extraction in a retest stage.
The above-described embodiments are intended to be illustrative, and not restrictive, of the invention, and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (10)
1. A ground penetrating radar auxiliary positioning method based on a field video is characterized by comprising the following steps:
step S1: synchronizing the auxiliary device trigger signal while performing steps S2 and S3;
step S2: the ground penetrating radar host starts to collect data and acquires the track number information of each track of data;
step S3: triggering the camera shooting equipment by the computer to realize the synchronization of the camera shooting equipment snapshot and the acquisition between the ground penetrating radar lanes, and recording the lane number information of each lane of data acquired in the step S2;
step S4: the computer carries out video coding on the snap shot photo sequence and creates an index according to the track number information;
step S5: the computer decodes the video and retrieves the scene photo according to the index, thereby realizing the accurate positioning on the scene.
2. The method of claim 1, wherein the method comprises: in step S1, the synchronous auxiliary device is a rotary encoder shared by the ground penetrating radar and the camera device, the rotary encoder is coaxial with the wheel, a trigger signal of the rotary encoder is divided into two paths, one path is introduced into the ground penetrating radar host, the other path is introduced into the computer, and the computer controls the camera device to take a snapshot.
3. The method of claim 2, wherein the method comprises: in step S2, in the process of collecting the ground penetrating radar data, the upper edge or the lower edge of a pulse generated by the rotary encoder in the process of traveling is used to trigger the host of the ground penetrating radar, so as to realize inter-lane collection of the ground penetrating radar and obtain the lane number information of each lane of data.
4. The ground penetrating radar auxiliary positioning method based on the live video as claimed in claim 3, wherein: in step S3, when the ground penetrating radar data is acquired and the pulse trigger threshold is reached, the computer sends an instruction to trigger the camera to take a snapshot.
5. The method of claim 4, wherein the method comprises: in steps S2 and S3, the method for synchronously acquiring the track number information in the ground penetrating radar data acquisition process includes:
(1) vertical section image Bscan (d) of data collected by ground penetrating radarn,tm) N is more than or equal to 1 and less than or equal to Trs, m is more than or equal to 1 and less than or equal to Ss, Trs is the number of image channels of the ground penetrating radar, n is the nth channel of the image of the ground penetrating radar, Ss is the number of sampling points on each channel of data, and m is the mth sampling point on each channel of data, so that the ground penetrating radar is at the horizontal distance dnN · Δ d, Δ d is the sampled track pitch, and the time round trip signal of the ground penetrating radar on the vertical axis is tmM · Δ t, Δ t being the sampling time interval;
(2) the precision delta R of the rotary encoder is R/p, wherein R is the circumference of the rotary encoder, and p is the number of pulses of one rotation of the rotary encoder;
(3) because the acquisition between the ground penetrating radar channels and the camera snapshot are synchronously triggered by the pulse of the rotary encoder, the pulse number received by the ground penetrating radar host and the computer is the same, namely NCAM＝Trs·(Δd/Δr)，NCAMTriggering thresholds for camera pulses every time N are receivedCAMAfter each pulse, the computer sends an instruction to make the camera take a snapshot once.
6. The method of claim 5, wherein the method comprises: in step S4, the computer stores the track number information recorded in each photo as an index into an index file, the index file includes the frame number of the snapshot and the track number of each track of data, the frame number is the serial number of the snapshot, the track number of the data acquisition is used as a key index, and the precise matching between the ground penetrating radar image track data and the scene snapshot is established according to the track spacing of the ground penetrating radar data acquisition and the precision of the rotary encoder.
7. The method of claim 6, wherein the method comprises: the method for establishing the index of the channel number information in the ground penetrating radar data acquisition process comprises the following steps:
the camera shooting equipment synchronously takes a picture when the ground penetrating radar collects each channel of data, and the corresponding relation between the channel number information and the position information of each channel of data of the ground penetrating radar is as follows: (Index)n)CAM＝n·(Δd/Δr)＝n·(dn)GPRN is more than or equal to 1 and less than or equal to Trs, wherein Trs is the number of ground penetrating radar image channels, n is the nth channel of the ground penetrating radar image, (Index)n)CAMCorresponding photos synchronously taken during the collection of the nth channel for the ground penetrating radar, delta d is the sampling channel spacing of the ground penetrating radar, delta r is the precision of the rotary encoder, n (delta d/delta r) is the total number of pulses received during the collection of the nth channel by the ground penetrating radar, and n (d)n)GPRPosition information of the nth channel of the collected data is acquired.
8. A positioning system for implementing the ground penetrating radar auxiliary positioning method based on live video according to any one of claims 1-7, characterized in that: including the ground penetrating radar and the snapshot system of making a video recording that is used for acquireing the underground medium distribution image in superficial stratum, the snapshot system of making a video recording includes the computer and links to each other, by computer control's camera equipment with the computer, ground penetrating radar is including visiting the ground radar host computer and with visiting the ground radar antenna that the ground penetrating radar host computer links to each other, positioning system still includes synchronous auxiliary assembly, synchronous auxiliary assembly links to each other with ground penetrating radar host computer and computer respectively, in step to ground penetrating radar and computer send triggering signal, realize the synchronization of gathering between camera equipment snapshot and ground penetrating radar way.
9. The positioning system of claim 8, wherein: the positioning system is arranged on the wheel type carrier, the synchronous auxiliary equipment is a rotary encoder coaxially arranged with wheels of the wheel type carrier, the ground penetrating radar is arranged at the rear part of the wheel type carrier, the camera equipment is fixed at the top end of the tail part of the wheel type carrier, and a 45-degree inclination angle of the lens is aligned with the ground behind the ground penetrating radar.
10. The positioning system of claim 9, wherein: still including setting up power and the network switch in the ground penetrating radar top, the network switch links to each other with computer and ground penetrating radar respectively, realizes the online function, ground penetrating radar still includes electronic connection unit and communication interface, and the ground penetrating radar antenna passes through electronic connection unit and links to each other with the ground penetrating radar host computer, rotary encoder passes through communication interface and links to each other with ground penetrating radar host computer and computer respectively.
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| CN113759337A (en) * | 2021-11-09 | 2021-12-07 | 深圳安德空间技术有限公司 | Three-dimensional ground penetrating radar real-time interpretation method and system for underground space data |
| CN114660085A (en) * | 2022-05-25 | 2022-06-24 | 深圳思谋信息科技有限公司 | Positioning method, device, system, storage medium and computer program product |
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