CN116360001A - Method for eliminating low-frequency unshielded ground penetrating radar multiple signal interference in frozen soil region - Google Patents
Method for eliminating low-frequency unshielded ground penetrating radar multiple signal interference in frozen soil region Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
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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
- 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
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention discloses a method for eliminating the multiple signal interference of a low-frequency non-shielding ground penetrating radar in a frozen soil area, which belongs to the technical field of positioning or presence detection by adopting reflection or reradiation of radio waves and is used for eliminating the signal interference of the ground penetrating radar, and comprises the steps of resampling collected original data, encrypting the sampling in the vertical direction, meeting the requirement of a sampling theorem, adjusting the recording length of a key area, selecting information of an upper half space in the depth direction of a section of the ground penetrating radar for key analysis according to the requirement of the detection depth of the frozen soil area, setting the amplitude of the data by adopting an exponential gain, and setting the exponential gain to be 2-point gain; local high-frequency noise is eliminated, the numerical value of the arithmetic average value is used as the amplitude value of the corresponding sampling point on the third measuring point through calculation among 5 adjacent measuring points, and the random noise amplitude value is eliminated through the arithmetic average; the horizontal reflected signal is intensified, the local reflected signal is displayed, and finally, the low-frequency interference elimination is performed.
Description
Technical Field
The invention discloses a method for eliminating the interference of multiple signals of a low-frequency non-shielding ground penetrating radar in a frozen soil area, and belongs to the technical field of positioning or presence detection by adopting reflection or reradiation of radio waves.
Background
The earth surface of the plateau frozen soil area of China is mostly covered by a fourth-series stratum, seasonal or permanent frozen soil is distributed in an underground space, hydrocarbon source rocks at the bottom of the frozen soil of a part of areas can release and decompose gases such as methane and carbon dioxide and move to the earth surface to erupt, and the gas release process can lead to the existence of a vertical structure in the frozen soil area. In the current engineering and environment exploration work of frozen soil areas, a ground penetrating radar is widely used as a rapid and efficient means, and particularly when a deep underground structure is detected in the frozen soil areas, a low-frequency non-shielding ground penetrating radar is needed. However, under the influence of the human environment and the climate change, the radar signal is easy to be interfered by the outside, the effective wave and the multiple wave are entangled with each other, and a method for clearly identifying and removing the multiple wave in the original data is lacked.
When detecting a vertical underground structure in a frozen soil area, the vertical geological structure such as a gas migration passage structure is small in size, the detection depth is large, and the resolution of a common geophysical method is often difficult to meet the requirements. Through theoretical model calculation, the low-frequency ground penetrating radar method is found to be adopted to effectively meet the detection resolution requirement. However, the low-frequency ground penetrating radar antenna is large and limited by the dimension thereof, and cannot be shielded, so that the anti-interference capability of the low-frequency ground penetrating radar antenna is reduced, and particularly, the longitudinal deep structure and the multiple interference of the ground surface are obvious (overlapped in a hyperbolic structure). At present, two problems exist in the conventional processing method, namely, the signal is smooth and filtered out too much, so that effective signals are filtered out simultaneously, and a target body cannot be distinguished; one is that the signal processing degree is weaker, the target area is affected by multiple waves, and the target body cannot be identified.
Disclosure of Invention
The invention aims to provide a method for eliminating the multiple signal interference of a low-frequency non-shielding ground penetrating radar in a frozen soil area, so as to solve the problems that in the prior art, targets cannot be effectively identified and effective signals are filtered due to the signal interference of the low-frequency ground penetrating radar.
The method for eliminating the low-frequency unshielded ground penetrating radar multiple signal interference in the frozen soil area comprises the following steps:
s1, resampling the collected original data, encrypting the sampling in the vertical direction, and meeting the requirement of a sampling theorem;
s2, adjusting the recording length of a key region, selecting information of an upper half space in the depth direction of a section of the ground penetrating radar for key analysis according to the detection depth requirement of a frozen soil region, adjusting the recording length to be 1/4 of the original recording length, controlling the number of sampling points to be 1024, and setting the time travel to 1600ns;
s3, setting the amplitude of the data by adopting an exponential gain, wherein the exponential gain is 2-point gain, the decibel is a negative value, and the exponential gain is-48 decibel and-16 decibel in sequence;
s4, eliminating local high-frequency noise, namely calculating between 5 adjacent measuring points, taking the numerical value of an arithmetic average value as the amplitude value of a corresponding sampling point on a third measuring point, and eliminating the random amplitude value of the noise through the arithmetic average;
s5, the reflection signals in the horizontal direction are enhanced, the horizontal background removes the signals in the decimal horizontal direction, and local reflection signals are displayed;
s6, eliminating low-frequency interference.
S1 comprises the following steps:
for a 20-megaantenna, the period T is t=1/f=1/20 mhz=50 ns, 2 sampling points are acquired in one period in the original data, namely, the requirement of the basic sampling theorem is met, the sampling points are increased by 4 times and the sampling rate is reduced according to the detection depth, and F represents the radar frequency, namely, the 20-megaantenna.
S2 comprises the following steps:
the relation between the geological radar detection depth and the time window is as follows:
wherein v is the propagation speed of the geological radar electromagnetic wave in the frozen soil, c is the propagation speed of the geological radar electromagnetic wave in the air, the size of the geological radar electromagnetic wave is 0.3m/ns, er is the number of dielectric lines of the frozen soil, the size of the Er is 4, z is the corresponding calculation depth of electromagnetic wave detection, and t is the underground propagation time of the electromagnetic wave and is the double-pass time.
S3 comprises the following steps:
for each laneAmplitude within each trace in the geological radar profile is exponentially gain adjusted so that the amplitude of the entire amplitude is normalized in the processing software
Between them.
S4 comprises the following steps:
among the 5 adjacent measuring points, the nth sampling point sequentially corresponds to the following amplitude information: the amplitude of the useful signal is ABCDE, the amplitude of the local random high-frequency noise is ABCDE, the amplitude of the corresponding sample point is A+a, wherein the amplitude ABCDE of the local random high-frequency noise is smaller and is in
And the sum or average value is close to 0, and the arithmetic average is taken by 5 measuring points, the amplitude value L of the measuring point 3 is as follows:
wherein the method comprises the steps of
。
S5 comprises the following steps:
the horizontal features are features on the whole section or a certain width of scanning is selected on the geological radar section as a sliding window, local background information is obtained, a certain width of scanning is selected as a background, the features of the geological radar section in the horizontal direction are counted, the average value is obtained, and then the amplitude value of each scanning of the section is subtracted from the average value to obtain the abnormal features of each measuring point;
the background value in the horizontal direction is 10-20 m as a background width, and the local features on the section are highlighted by 2-5 m, so that the discontinuous features of stratum layers, namely faults and joint geological structures, are displayed, and the underground structure, namely a gas ascending channel, is highlighted.
S6 comprises the following steps:
firstly, adopting 2-point gain, wherein the first gain point is set to be 0, the second gain point is set to be 24 dB, and the middle adopts exponential gain to continuously amplify the amplitude of the reflection signal of the whole section;
eliminating low-frequency interference through frequency spectrum analysis and frequency filtering, obtaining electromagnetic wave signals of medium-frequency components, reflecting reflected signals of underground structures, and further reflecting reflected signals of deep parts;
and obtaining frequency distribution characteristics of the whole section and frequency distribution of signals through frequency spectrum analysis, and taking frequency demarcation points of the ultra-low frequency components and the medium frequency components as parameters of high-pass filtering.
Compared with the prior art, the invention has the following beneficial effects: the invention designs 6 non-repeated processing links (the traditional method comprises the steps of filtering, smoothing, changing gain and the like for a plurality of times in the transverse direction and the longitudinal direction, and a plurality of repeated steps) by using a new thought of longitudinal identification and transverse reinforcement, so that the processing speed can be obviously improved, the characteristics of the underground vertical geologic body can be clearly identified, and the layered clear display can be realized for deep vertical geologic structures (within 160 meters) including the lower part of the frozen soil bottom boundary, the frozen soil area and the upper part of the frozen soil top boundary.
Drawings
FIG. 1 is a diagram of a geological morphology model of a typical subsurface structure in a frozen soil region;
FIG. 2 is a forward modeling diagram of a ground penetrating radar of a typical subsurface structure in a frozen soil region;
fig. 3 is a graph of near-surface multiple interference scenarios.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the present invention will be clearly and completely described below, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The method for eliminating the low-frequency unshielded ground penetrating radar multiple signal interference in the frozen soil area comprises the following steps:
s1, resampling the collected original data, encrypting the sampling in the vertical direction, and meeting the requirement of a sampling theorem;
s2, adjusting the recording length of a key region, selecting information of an upper half space in the depth direction of a section of the ground penetrating radar for key analysis according to the detection depth requirement of a frozen soil region, adjusting the recording length to be 1/4 of the original recording length, controlling the number of sampling points to be 1024, and setting the time travel to 1600ns;
s3, setting the amplitude of the data by adopting an exponential gain, wherein the exponential gain is 2-point gain, the decibel is a negative value, and the exponential gain is-48 decibel and-16 decibel in sequence;
s4, eliminating local high-frequency noise, namely calculating between 5 adjacent measuring points, taking the numerical value of an arithmetic average value as the amplitude value of a corresponding sampling point on a third measuring point, and eliminating the random amplitude value of the noise through the arithmetic average;
s5, the reflection signals in the horizontal direction are enhanced, the horizontal background removes the signals in the decimal horizontal direction, and local reflection signals are displayed;
s6, eliminating low-frequency interference.
S1 comprises the following steps:
for a 20-megaantenna, the period T is t=1/f=1/20 mhz=50 ns, 2 sampling points are acquired in one period in the original data, namely, the requirement of the basic sampling theorem is met, the sampling points are increased by 4 times and the sampling rate is reduced according to the detection depth, and F represents the radar frequency, namely, the 20-megaantenna.
S2 comprises the following steps:
the relation between the geological radar detection depth and the time window is as follows:
wherein v is the propagation speed of the geological radar electromagnetic wave in the frozen soil, c is the propagation speed of the geological radar electromagnetic wave in the air, the size of the geological radar electromagnetic wave is 0.3m/ns, er is the number of dielectric lines of the frozen soil, the size of the Er is 4, z is the corresponding calculation depth of electromagnetic wave detection, and t is the underground propagation time of the electromagnetic wave and is the double-pass time.
S3 comprises the following steps:
performing exponential gain adjustment on the amplitude in each scanning channel in each geological radar section to enable the amplitude to be in an exponential gainThe amplitude of the whole amplitude is normalized in the processing software
Between them.
S4 comprises the following steps:
among the 5 adjacent measuring points, the nth sampling point sequentially corresponds to the following amplitude information: the amplitude of the useful signal is ABCDE, the amplitude of the local random high-frequency noise is ABCDE, the amplitude of the corresponding sample point is A+a, wherein the amplitude ABCDE of the local random high-frequency noise is smaller and is in
And the sum or average value is close to 0, and the arithmetic average is taken by 5 measuring points, the amplitude value L of the measuring point 3 is as follows:
wherein the method comprises the steps of
。
S5 comprises the following steps:
the horizontal features are features on the whole section or a certain width of scanning is selected on the geological radar section as a sliding window, local background information is obtained, a certain width of scanning is selected as a background, the features of the geological radar section in the horizontal direction are counted, the average value is obtained, and then the amplitude value of each scanning of the section is subtracted from the average value to obtain the abnormal features of each measuring point;
the background value in the horizontal direction is 10-20 m as a background width, and the local features on the section are highlighted by 2-5 m, so that the discontinuous features of stratum layers, namely faults and joint geological structures, are displayed, and the underground structure, namely a gas ascending channel, is highlighted.
S6 comprises the following steps:
firstly, adopting 2-point gain, wherein the first gain point is set to be 0, the second gain point is set to be 24 dB, and the middle adopts exponential gain to continuously amplify the amplitude of the reflection signal of the whole section;
eliminating low-frequency interference through frequency spectrum analysis and frequency filtering, obtaining electromagnetic wave signals of medium-frequency components, reflecting reflected signals of underground structures, and further reflecting reflected signals of deep parts;
and obtaining frequency distribution characteristics of the whole section and frequency distribution of signals through frequency spectrum analysis, and taking frequency demarcation points of the ultra-low frequency components and the medium frequency components as parameters of high-pass filtering.
In the embodiment of the invention, a vertical underground structure (such as an underground hydrocarbon gas migration channel) exists in a certain place of a plateau frozen soil area in China as an example, and a model is established to consider that the low-frequency radar is effective in detecting the target body, but a large number of multiple interference exists.
A geological morphology model diagram of a typical underground structure of a frozen soil area is shown in fig. 1, wherein the geological morphology model diagram shows a typical geological morphology of the ground surface and an underground space of the frozen soil area, and A in fig. 1 is a fourth-line thick cover of the ground surface of the frozen soil area; b in fig. 1 is a medium such as frozen soil under the fourth-series cover; c in fig. 1 is a three-dimensional structure with upward migration of the gas at the deep portion of the ground; d in fig. 1 represents a medium such as deep hard sandstone. As shown in figure 2, a forward modeling diagram of the ground penetrating radar of a typical underground structure of a frozen soil area mainly corresponds to a fourth-line covering of the earth surface, is piled up by various waveforms, is displayed in dark color, and has unclear layering; the area of 50 nanoseconds to 100 nanoseconds is far away from the ground surface, so that the interference is reduced, and the morphology of a part of underground structure can be seen; the interference reduces the three-dimensional morphological phenomenon under 100 nanoseconds, and the medium of the hard sandstone can be seen.
The near-surface multiple interference condition diagram is shown in fig. 3, and is mainly shown in a black frame, in a region of 25 nanoseconds to 100 nanoseconds of radar wave travel time, multiple waves are obviously interfered by frozen soil, a surface fourth-system cover and medium in an underground space in the region, the multiple waves are in a wave crest superposition form, and specific distribution conditions of stratum cannot be clearly acquired, and the difference is larger than that of the multiple waves under 100 nanoseconds.
When the sampling and encrypting are carried out in the vertical direction, the actually measured data of the ground penetrating radar in the frozen soil area is selected as a sample, the sampling depth and the scanning wheelbase length are combined, the collected original data are resampled, the sampling in the vertical direction is encrypted, the requirement of the sampling theorem is met, and the radar wave in the area above 4000 nanoseconds is approximately layered and visible.
According to the detection depth requirement of the underground space target in the example, the information of the upper half space is selected in the depth direction of the section of the ground penetrating radar for key analysis, the general recording length is adjusted to be 1/4 of the original recording length, the sampling point number is controlled to be about 1024, and the time is set within 1600 ns. Which here may correspond to exactly 1/4 the size of the number of samples resampled to the original record.
The frozen soil area detection generally adopts high-power ground penetrating radar equipment, the amplitude value in the original record is large, the amplitude of data is set by adopting exponential gain, and the amplitude in each scanning channel in each geological radar section is subjected to exponential gain adjustment.
Through arithmetic average, the random local high-frequency noise amplitude is eliminated, and after the noise is effectively suppressed, the underground space target body with a smaller form is displayed, so that the position and the form of different underground media are better indicated.
By horizontal background removal, the local reflected signal is better displayed. In combination with different medium conditions such as underground melted frozen soil, hard sandstone and the like which are generally existing in a frozen soil area, the background value in the horizontal direction can be selected to be 10-20 meters as a background width, so that the local characteristic on the section is highlighted by 2-5 meters, the discontinuous characteristic of the stratum layer, namely the geological structure such as faults, joints and the like is displayed, and the underground structure is highlighted in a key way, in particular the underground space structure indication of longitudinal gas migration.
After the exponential gain amplification, the low-frequency interference is eliminated through frequency spectrum analysis and frequency filtering, and a radar wave signal with medium frequency components is obtained, so that the reflection signal of the underground structure of the frozen soil area is reflected more finely, and particularly, the reflection signal of the deep part below 500 nanoseconds is obtained.
By the method, the near-surface multiple interference is effectively eliminated, the deep longitudinal structure is more intuitively obtained and displayed, the geological horizon distribution within 1500 nanoseconds is clear, and the in-phase axis inversion condition of radar waves in a unified stratum can be intuitively obtained.
The above embodiments are only for illustrating the technical aspects of the present invention, not for limiting the same, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may be modified or some or all of the technical features may be replaced with other technical solutions, which do not depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. The method for eliminating the low-frequency unshielded ground penetrating radar multiple signal interference in the frozen soil area is characterized by comprising the following steps:
s1, resampling the collected original data, encrypting the sampling in the vertical direction, and meeting the requirement of a sampling theorem;
s2, adjusting the recording length of a key region, selecting information of an upper half space in the depth direction of a section of the ground penetrating radar for key analysis according to the detection depth requirement of a frozen soil region, adjusting the recording length to be 1/4 of the original recording length, controlling the number of sampling points to be 1024, and setting the time travel to 1600ns;
s3, setting the amplitude of the data by adopting an exponential gain, wherein the exponential gain is 2-point gain, the decibel is a negative value, and the exponential gain is-48 decibel and-16 decibel in sequence;
s4, eliminating local high-frequency noise, namely calculating between 5 adjacent measuring points, taking the numerical value of an arithmetic average value as the amplitude value of a corresponding sampling point on a third measuring point, and eliminating the random amplitude value of the noise through the arithmetic average;
s5, the reflection signals in the horizontal direction are enhanced, the horizontal background removes the signals in the decimal horizontal direction, and local reflection signals are displayed;
s6, eliminating low-frequency interference.
2. The method for eliminating the interference of the low-frequency unshielded ground penetrating radar multiple signals in the frozen soil area according to claim 1, wherein the step S1 comprises the following steps:
for a 20-megaantenna, the period T is t=1/f=1/20 mhz=50 ns, 2 sampling points are acquired in one period in the original data, namely, the requirement of the basic sampling theorem is met, the sampling points are increased by 4 times and the sampling rate is reduced according to the detection depth, and F represents the radar frequency, namely, the 20-megaantenna.
3. The method for eliminating the interference of the low-frequency unshielded ground penetrating radar multiple signals in the frozen soil area according to claim 2, wherein the step S2 comprises the following steps:
the relation between the geological radar detection depth and the time window is as follows:
wherein v is the propagation speed of the geological radar electromagnetic wave in the frozen soil, c is the propagation speed of the geological radar electromagnetic wave in the air, the size of the geological radar electromagnetic wave is 0.3m/ns, er is the number of dielectric lines of the frozen soil, the size of the Er is 4, z is the corresponding calculation depth of electromagnetic wave detection, and t is the underground propagation time of the electromagnetic wave and is the double-pass time.
4. The method for eliminating the interference of the low-frequency unshielded ground penetrating radar multiple signal in the frozen soil area according to claim 3, wherein S3 comprises:
performing exponential gain adjustment on the amplitude in each scanning channel in each geological radar section, so that the amplitude of the whole amplitude is normalized in processing software
Between them.
5. The method for eliminating interference of low-frequency unshielded ground penetrating radar multiple signals in frozen soil area according to claim 4, wherein S4 comprises:
among the 5 adjacent measuring points, the nth sampling point sequentially corresponds to the following amplitude information: the amplitude of the useful signal is ABCDE, the amplitude of the local random high-frequency noise is ABCDE, the amplitude of the corresponding sample point is A+a, whereinThe amplitude abcde of random high frequency noise is small and is in
And the sum or average value is close to 0, and the arithmetic average is taken by 5 measuring points, the amplitude value L of the measuring point 3 is as follows:
wherein the method comprises the steps of
。
6. The method for eliminating the interference of the low-frequency unshielded ground penetrating radar multiple signals in the frozen soil area according to claim 5, wherein the step S5 comprises:
the horizontal features are features on the whole section or a certain width of scanning is selected on the geological radar section as a sliding window, local background information is obtained, a certain width of scanning is selected as a background, the features of the geological radar section in the horizontal direction are counted, the average value is obtained, and then the amplitude value of each scanning of the section is subtracted from the average value to obtain the abnormal features of each measuring point;
the background value in the horizontal direction is 10-20 m as a background width, and the local features on the section are highlighted by 2-5 m, so that the discontinuous features of stratum layers, namely faults and joint geological structures, are displayed, and the underground structure, namely a gas ascending channel, is highlighted.
7. The method for eliminating the interference of the low-frequency unshielded ground penetrating radar multiple signals in the frozen soil area according to claim 6, wherein S6 comprises:
firstly, adopting 2-point gain, wherein the first gain point is set to be 0, the second gain point is set to be 24 dB, and the middle adopts exponential gain to continuously amplify the amplitude of the reflection signal of the whole section;
eliminating low-frequency interference through frequency spectrum analysis and frequency filtering, obtaining electromagnetic wave signals of medium-frequency components, reflecting reflected signals of underground structures, and further reflecting reflected signals of deep parts;
and obtaining frequency distribution characteristics of the whole section and frequency distribution of signals through frequency spectrum analysis, and taking frequency demarcation points of the ultra-low frequency components and the medium frequency components as parameters of high-pass filtering.
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| 刘皓男: "利用探地雷达技术进行青藏公路与高原冻土相互影响研究", 《中国优秀硕士论文电子期刊》, pages 37 - 43 * |
| 李东: "黑河流域祁连冻土区地质雷达（GPR）探测及研究", 《中国优秀硕士论文电子期刊》, pages 32 - 33 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117433606A (en) * | 2023-12-20 | 2024-01-23 | 成都易联易通科技有限责任公司 | Data denoising method and system for granary Internet of things |
| CN117433606B (en) * | 2023-12-20 | 2024-03-19 | 成都易联易通科技有限责任公司 | Data denoising method and system for granary Internet of things |
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