Stepped-frequency ground penetrating radar range profile target location method and system

Abstract

The application discloses a stepped frequency ground penetrating radar range image target positioning method and system, comprising: obtaining echo data of the stepped frequency ground penetrating radar, and synthesizing the echo data into a one-dimensional range image; generating a dynamic threshold according to the one-dimensional range image; judging rising and falling trends of a wave spectrum in the one-dimensional range image according to the dynamic threshold, and determining a wave peak region according to the judgment; judging whether the wave peak region is a target wave peak region according to a set threshold; correcting the target wave peak region according to serial numbers of a starting point, an ending point and a maximum point of the target wave peak region to determine effective data points in the corrected target wave peak region; performing weighted average processing on coordinates of the effective data points to obtain a peak point coordinate; and determining a position of a detected target according to the peak point coordinate. The application solves the problems of "pseudo-peak" and inaccurate positioning of a peak point in a common peak searching algorithm, and improves the target detection and positioning precision of the stepped frequency ground penetrating radar.

Description

Technical Field

[0001] This invention relates to the field of ground-penetrating radar imaging technology, and in particular to a method and system for locating targets in range images from a step-frequency ground-penetrating radar. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Step-frequency ground-penetrating radar (GPR) is a non-destructive testing method that uses an antenna to transmit continuous waves to a target. After reflection and refraction, the antenna receives the echoes, and the data is processed to determine the location of underground targets and the distribution of the internal medium. Due to its advantages such as fast detection speed, high accuracy, ease of operation, and non-destructive testing capabilities, GPR is widely used in municipal pipelines, tunnels, roadbeds, and building structures. Detecting underground objects with GPR requires accurately locating their burial depth. The target location can be determined based on the GPR range image. The accuracy of target detection and positioning depends on how well the peak of the range image is identified and precisely located.

[0004] Currently, common spectral peak finding algorithms mainly include the three-point peak finding method, constant false alarm rate (CFAR) method, symmetric zero-area method, and Gaussian fitting peak finding algorithm. The three-point peak finding method uses the window size, the number of sparse data points, and the wavelength interval as the three points. These values ​​are determined through experimental simulation, and the method is then established accordingly. The CFAR method first sets two window functions, performs window smoothing to obtain an optimized curve, then calculates the average value of the data, sets a threshold, and filters the peaks. The zero-area method adds a symmetric window function with an area of ​​0; when the net area of ​​a peak is several times larger than the standard deviation of the total area, it is identified as a true peak. The Gaussian fitting method uses a Gaussian function to infinitely approximate the data points, calculating the peak value based on the data and the Gaussian function.

[0005] However, although the above-mentioned peak-finding algorithms can find peaks, they involve a large amount of computation and suffer from the phenomenon of "pseudo-peaks," resulting in inaccurate peak point location. Summary of the Invention

[0006] To address the aforementioned issues, this invention proposes a method and system for locating targets in step-frequency ground-penetrating radar range images. By judging wave peaks, the number of wave peaks and the target peak region are determined, and a weighted average algorithm is applied to peak location. This solves the problems of "pseudo-peaks" and inaccurate peak point location in commonly used peak-finding algorithms, thereby improving the target detection and location accuracy of step-frequency ground-penetrating radar.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a method for target localization using step-frequency ground-penetrating radar range images, comprising:

[0009] Acquire echo data from step-frequency ground-penetrating radar and synthesize the echo data into a one-dimensional range profile;

[0010] Dynamic thresholds are generated based on one-dimensional distance images;

[0011] The upward and downward trends of the spectrum in the one-dimensional distance image are determined by the dynamic threshold, and the peak region is determined accordingly. The peak region is further determined to be the target peak region based on the set threshold.

[0012] The target peak region is corrected based on the sequence numbers of the start point, end point, and maximum value point of the target peak region to determine the effective data points within the corrected target peak region. After weighted averaging of the coordinates of the effective data points, the coordinates of the peak point are obtained.

[0013] The location of the target is determined based on the coordinates of the peak point.

[0014] As an alternative implementation, the process of synthesizing echo data into a one-dimensional range image includes: obtaining the amplitude values ​​of echo data points based on echo I data and echo Q data, normalizing the amplitude values ​​of each echo data point, and then plotting the one-dimensional range image spectrum curve.

[0015] As an alternative implementation, the process of generating a dynamic threshold based on a one-dimensional distance image includes:

[0016] Smooth the one-dimensional distance image;

[0017] A dynamic threshold T is generated based on the amplitude value of the smoothed one-dimensional distance image:

[0018]

[0019] Among them, A max The amplitude value A of the smoothed one-dimensional range image. [i] The maximum value in the range, where N is the number of sampling points.

[0020] As an alternative implementation method, the process of determining whether a wave crest region is a target wave crest region includes:

[0021] After smoothing the one-dimensional range image, obtain the amplitude value sequence of the smoothed one-dimensional range image;

[0022] The amplitude value sequence A [i] Let m be the sequence number of the first data point that exceeds the dynamic threshold. Starting from sequence number m, take a data points sequentially. If A(m+a-1)≥Y min+(A(m+a-1)-A(m)), Y min If the minimum value among the a data points is found, then the spectrum shows an upward trend;

[0023] From A [m+a-1] Start by setting the maximum value Y max Let n be the sequence number of the data points. Starting from n, b data points are taken sequentially. If A(n+b-1)≤Y is satisfied, then... max -(A(n)-A(n+b-1)), then the spectrum shows a downward trend;

[0024] When the spectrum simultaneously satisfies both an upward and downward trend, a peak region is identified.

[0025] When the difference between sequence number n and sequence number m in the peak region exceeds the set threshold, the peak region is the target peak; otherwise, it is a false target peak and the peak region is removed.

[0026] As an alternative implementation method, the process of determining valid data points includes:

[0027] Let m be the sequence number of the starting point of the target peak region, n be the sequence number of the ending point, and X be the sequence number of the maximum value point. mid ;

[0028] Determine serial number X mid The difference Δx1 between the sequence number m and the sequence number m;

[0029] Determine the sequence number n and the sequence number X mid The difference Δx2;

[0030] The sequence numbers of the starting and ending points of the target peak region are corrected based on the two differences, thereby determining the valid data points of the corrected target peak region:

[0031]

[0032] As an alternative implementation method, the peak point sequence number X mid That is, the X-axis coordinate of the peak point is:

[0033]

[0034] Among them, (X) i Y i Y represents the coordinates of the i-th valid data point, m and n are the sequence numbers of the start and end points of the corrected target peak region, and Y represents the coordinates of the i-th valid data point. max Y min These are the maximum and minimum values.

[0035] As an alternative implementation method, the process of determining the position DX of the detected target based on the peak point coordinates is as follows:

[0036]

[0037] Where C is the speed of light, n is the number of frequency points of the step-frequency ground-penetrating radar, Δf is the step frequency, ε is the dielectric constant of the medium, β is the position compensation coefficient, and X mid The value is the X-axis coordinate of the peak point.

[0038] In a second aspect, the present invention provides a step-frequency ground-penetrating radar range image target localization system, comprising:

[0039] The echo data processing module is configured to acquire echo data from the step-frequency ground-penetrating radar and synthesize the echo data into a one-dimensional range image.

[0040] The threshold generation module is configured to generate dynamic thresholds based on a one-dimensional distance image;

[0041] The target peak determination module is configured to determine the upward and downward trends of the spectrum in the one-dimensional distance image based on a dynamic threshold, and determine the peak region accordingly. It then determines whether the peak region is the target peak region based on a set threshold.

[0042] The peak coordinate determination module is configured to correct the target peak region based on the sequence number of the start point, end point and maximum value point of the target peak region, so as to determine the effective data points in the corrected target peak region. After weighted averaging of the coordinates of the effective data points, the peak point coordinates are obtained.

[0043] The target localization module is configured to determine the location of the detected target based on the coordinates of the peak point.

[0044] Thirdly, the present invention provides an electronic device including a memory and a processor, and computer instructions stored in the memory and running on the processor, wherein the computer instructions, when executed by the processor, perform the method described in the first aspect.

[0045] Fourthly, the present invention provides a computer-readable storage medium for storing computer instructions, which, when executed by a processor, perform the method described in the first aspect.

[0046] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0047] This invention proposes a method and system for target localization in step-frequency ground-penetrating radar range images. By judging wave peaks, the number of wave peaks and the target peak area are determined, and a weighted average algorithm is applied to peak localization. This solves the problems of "false peaks" and inaccurate peak point localization in commonly used peak-finding algorithms, thereby improving the target detection and localization accuracy of step-frequency ground-penetrating radar range images.

[0048] This invention proposes a method and system for locating targets in range images using step-frequency ground-penetrating radar. The proposed spectral peak-finding algorithm is simpler and shortens the peak-finding time compared to peak-finding algorithms such as constant false alarm rate, symmetric zero-area method, and Gaussian fitting.

[0049] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0050] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0051] Figure 1 This is a flowchart of the step-frequency ground-penetrating radar range image target localization method provided in Embodiment 1 of the present invention;

[0052] Figure 2 This is a flowchart of the spectrum peak determination process for a step-frequency ground-penetrating radar provided in Embodiment 1 of the present invention;

[0053] Figure 3 This is the original one-dimensional range image of the step-frequency ground-penetrating radar provided in Embodiment 1 of the present invention;

[0054] Figure 4 This is a one-dimensional range image of the step-frequency ground-penetrating radar after preprocessing, as provided in Embodiment 1 of the present invention.

[0055] Figure 5 The target localization result of the step-frequency ground-penetrating radar range image provided in Embodiment 1 of the present invention. Detailed Implementation

[0056] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0057] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0058] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments of the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. Furthermore, it should be understood that the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0059] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0060] Example 1

[0061] like Figures 1-2 As shown, this embodiment provides a method for target localization using step-frequency ground-penetrating radar range images, including:

[0062] Acquire echo data from step-frequency ground-penetrating radar and synthesize the echo data into a one-dimensional range profile;

[0063] Dynamic thresholds are generated based on one-dimensional distance images;

[0064] Based on the dynamic threshold, the upward and downward trends of the spectrum in the one-dimensional distance image are determined, and the peak region is determined accordingly. Based on the set threshold, it is further determined whether the peak region is the target peak region.

[0065] The target peak region is corrected based on the sequence numbers of the start point, end point, and maximum value point of the target peak region to determine the effective data points within the corrected target peak region. After weighted averaging of the coordinates of the effective data points, the coordinates of the peak point are obtained.

[0066] The location of the target is determined based on the coordinates of the peak point.

[0067] In this embodiment, the process of synthesizing echo data into a one-dimensional range image includes:

[0068] (1) Read the echo I portion data from N sampling points of the stepped-frequency ground-penetrating radar. [i] And Q part of the data Q [i] where i = 0, 1, 2, ..., N-1;

[0069] (2) Combine the echo I / Q data from each sampling point to form the radar echo data point amplitude value C. [i] :

[0070]

[0071] (3) Normalize the amplitude value of each echo data point to obtain D. [i] :

[0072]

[0073] Where maxC is the amplitude value C of the data point. [i] The maximum amplitude value in.

[0074] (4) According to D [i] Plot the one-dimensional range profile spectrum of N sampling points of the step-frequency ground-penetrating radar, as follows: Figure 3 As shown.

[0075] In this embodiment, the process of generating a dynamic threshold based on a one-dimensional distance image includes:

[0076] (1) For a one-dimensional distance image D [i] The average value is calculated by taking a group of several data points (5 data points in this embodiment as an example), and then performing a moving average smoothing process. The processed amplitude value is denoted as A. [i] The processed one-dimensional distance image curve is drawn as follows: Figure 4 As shown;

[0077] (2) According to A [i] Data sequence, dynamically generate threshold T:

[0078]

[0079] Among them, A max For A [i] The maximum value in the data sequence, where N is the number of data sampling points.

[0080] In this embodiment, the process of determining the target peak region and target peak in a one-dimensional range image based on a dynamic threshold includes:

[0081] (1) Polling A [i] Data sequence, A [i] The sequence number of the first data point greater than the dynamic threshold T is denoted as m. Starting from m, a data points are taken sequentially (a is 3 in this embodiment), and the minimum value among these a data points is denoted as Y. min If A(m+a-1)≥Y min If +(A(m+a-1)-A(m)), then it is determined that the spectrum of the one-dimensional distance image is on an upward trend; otherwise, continue to execute step (1).

[0082] (2) From A [m+a-1] Let Y be the maximum value in the data sequence. maxThe sequence number is denoted as n; starting from n, b (b>a) data points are taken sequentially. In this embodiment, b is 4. If A(n+b-1)≤Y max If -(A(n)-A(n+b-1)), then it is determined that the spectrum of the one-dimensional distance image is decreasing; otherwise, continue to execute step (2).

[0083] (3) When the spectrum of a one-dimensional distance image simultaneously satisfies both an upward trend and a downward trend, it can be identified as a peak region.

[0084] (4) Determine whether the peak region is the target peak region; specifically, when nm ≥ a set threshold (2 is taken as an example in this embodiment), the peak region is the target peak, such as Figure 5 P1; conversely, if it is a false target "pseudo-peak", then the peak region is removed, such as... Figure 5 P2 and P3;

[0085] (5) Repeat steps (3) to (4) to accumulate the number of peaks in the target peak region until the end.

[0086] In this embodiment, the process of determining the coordinates of the peak point of a target wave crest region includes:

[0087] (1) The magnitude value A of the distance between the data point and the image is used as the weight, and the sampling point N, which corresponds to the target distance X, is used as the reference point;

[0088] (2) Determine data point A in the target peak region. [i] The maximum value Y max and minimum value Y min The data sequence number at the maximum value point is the X-axis coordinate, denoted as X. mid , (X i Y i Then, ) represents the coordinates of the i-th data point in this data sequence;

[0089] (3) Take the data sequence number X at the maximum value. mid The difference between the X coordinate of the peak and the starting point, i.e., the starting point sequence number m, is denoted as Δx1: Δx1 = X mid -m;

[0090] Take the X-coordinate of the peak end point, that is, the sequence number n of the end point and the data sequence number X at the maximum value. mid The difference is denoted as Δx2: Δx2 = nX mid ;

[0091] (4) Based on the principle of left-right symmetry of the wave crest, correct the starting point m and ending point n of the target wave crest region, and determine the effective data points within the modified target wave crest region nm:

[0092]

[0093] (5) Perform a weighted average on the effective data points within the target peak region to obtain the X-axis coordinate of the peak point. mid ,like Figure 5 As shown in T2;

[0094]

[0095] Understandably, there can be multiple peaks, meaning there are as many targets as there are peaks; therefore, the position of each peak and X... mid In other words, they are different, thus allowing us to locate the target position.

[0096] The peak finding result in this embodiment (i.e.) Figure 5 The results of peak finding by the T2 and Gaussian fitting algorithm (i.e. Figure 5 By comparing the peak values ​​obtained in this embodiment with those obtained from Gaussian fitting (T1), it can be seen that the peak value obtained in this embodiment is more accurate and closer to the true peak value position than that obtained from Gaussian fitting.

[0097] In this embodiment, the location of the detection target is determined based on the coordinates of the peak point, specifically as follows:

[0098]

[0099] Where C is the speed of light, n is the number of frequency points of the step-frequency ground-penetrating radar, Δf is the step frequency, ε is the dielectric constant of the medium, β is the position compensation coefficient, and X mid The value is the X-axis coordinate of the peak point.

[0100] Specifically, in this embodiment, X is set. mid =42.2821, C=3*10 8 Given the parameters m / s, n = 800, Δf = 1MHz, ε = 9, and β = 0.75, the target position DX = 1.9819m can be calculated.

[0101] This embodiment provides a method to improve the target positioning accuracy of step-frequency ground-penetrating radar range images. First, the number of peaks and the target peak area are determined by judging the peaks. Then, a weighted average algorithm is applied to the peak positioning, which solves the problems of "pseudo-peaks" and inaccurate peak point positioning in commonly used peak-finding algorithms, thereby improving the target detection and positioning accuracy of step-frequency ground-penetrating radar.

[0102] Example 2

[0103] This embodiment provides a step-frequency ground-penetrating radar range image target localization system, including:

[0104] The echo data processing module is configured to acquire echo data from the step-frequency ground-penetrating radar and synthesize the echo data into a one-dimensional range image.

[0105] The threshold generation module is configured to generate dynamic thresholds based on a one-dimensional distance image;

[0106] The target peak determination module is configured to determine the upward and downward trends of the spectrum in the one-dimensional distance image based on a dynamic threshold, and determine the peak region accordingly. It then determines whether the peak region is the target peak region based on a set threshold.

[0107] The peak coordinate determination module is configured to correct the target peak region based on the coordinates of the start point, end point and maximum value point of the target peak region, so as to determine the effective data points in the corrected target peak region. After weighted averaging of the coordinates of the effective data points, the peak point coordinates are obtained.

[0108] The target localization module is configured to determine the location of the detected target based on the coordinates of the peak point.

[0109] It should be noted that the above modules correspond to the steps described in Embodiment 1, and the examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the content disclosed in Embodiment 1. It should also be noted that the above modules, as part of the system, can be executed in a computer system such as a set of computer-executable instructions.

[0110] In further embodiments, the following is also provided:

[0111] An electronic device includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor, wherein the computer instructions, when executed by the processor, perform the method described in Embodiment 1. For brevity, further details are omitted here.

[0112] It should be understood that in this embodiment, the processor can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0113] Memory may include read-only memory and random access memory, and provides instructions and data to the processor. A portion of memory may also include non-volatile random access memory. For example, memory may also store information about the device type.

[0114] A computer-readable storage medium for storing computer instructions, which, when executed by a processor, perform the method described in Embodiment 1.

[0115] The method in Example 1 can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor. The software modules can reside in readily available storage media in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, a detailed description is not provided here.

[0116] Those skilled in the art will recognize that the units, i.e., algorithm steps, of the various examples described in connection with this embodiment can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0117] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for target localization using step-frequency ground-penetrating radar range images, characterized in that, include: Acquire echo data from step-frequency ground-penetrating radar and synthesize the echo data into a one-dimensional range profile; Dynamic thresholds are generated based on one-dimensional distance images; The upward and downward trends of the spectrum in the one-dimensional distance image are determined based on dynamic thresholds, and the peak regions are identified accordingly. A set threshold is then used to determine whether the peak region is the target peak region. The process includes: After smoothing the one-dimensional range image, obtain the amplitude value sequence of the smoothed one-dimensional range image; Amplitude value sequence The first data point in the sequence that exceeds the dynamic threshold is denoted as the sequence number. m From the serial number m Start by taking them one by one a For data points, if the following conditions are met , for a The minimum value among the data points indicates an upward trend in the spectrum; from Start by setting the maximum value. The data points are denoted as sequence numbers. n ,from n Start taking them in order from the beginning b For data points, if the following conditions are met Then the spectrum shows a downward trend; When the spectrum simultaneously satisfies both an upward and downward trend, a peak region is identified. When the serial number in the peak region n With serial number m If the difference exceeds the set threshold, the peak region is the target peak; otherwise, it is a false target peak and the peak region is removed. The target peak region is corrected based on the sequence numbers of its starting point, ending point, and maximum value. This process determines the valid data points within the corrected target peak region. The coordinates of these valid data points are then weighted and averaged to obtain the peak point coordinates. The process of determining valid data points includes: Let the starting point of the target peak region be the sequence number. m The end point is the serial number. n The maximum value point is the sequence number. ; Determine the serial number With serial number m The difference ; Determine the serial number n With serial number The difference ; The sequence numbers of the starting and ending points of the target peak region are corrected based on the two differences, thereby determining the corrected target peak region. nm Valid data points within: ； The process of determining the location of the target based on the coordinates of the peak point is as follows: ； Where C is the speed of light. n This represents the number of frequency points of the step-frequency ground-penetrating radar. The step frequency, The dielectric constant of the medium, This is the position compensation coefficient. The value is the X-axis coordinate of the peak point.

2. The method for locating a target using a step-frequency ground-penetrating radar range image as described in claim 1, characterized in that, The process of synthesizing echo data into a one-dimensional range image includes: obtaining the amplitude values ​​of echo data points based on echo I data and echo Q data, normalizing the amplitude values ​​of each echo data point, and then plotting the spectrum curve of the one-dimensional range image.

3. The method for target localization using step-frequency ground-penetrating radar range images as described in claim 1, characterized in that, The process of generating a dynamic threshold based on a one-dimensional distance image includes: Smooth the one-dimensional distance image; A dynamic threshold T is generated based on the amplitude value of the smoothed one-dimensional distance image: Among them, A max The amplitude value of the smoothed one-dimensional range image The maximum value in the range, where N is the number of sampling points.

4. The method for target localization using step-frequency ground-penetrating radar range images as described in claim 1, characterized in that, The X-axis coordinate of the peak point is : ； in,( ) is the first i The coordinates of each valid data point m and n These are the sequence numbers of the start and end points of the corrected target peak region. , These are the maximum and minimum values.

5. A step-frequency ground-penetrating radar range image target localization system, characterized in that, include: The echo data processing module is configured to acquire echo data from the step-frequency ground-penetrating radar and synthesize the echo data into a one-dimensional range image. The threshold generation module is configured to generate dynamic thresholds based on a one-dimensional distance image; The target peak determination module is configured to determine the upward and downward trends of the spectrum in a one-dimensional range image based on a dynamic threshold, and to determine the peak region accordingly. It then determines whether the peak region is the target peak region based on a set threshold. The process includes: After smoothing the one-dimensional range image, obtain the amplitude value sequence of the smoothed one-dimensional range image; Amplitude value sequence The first data point in the sequence that exceeds the dynamic threshold is denoted as the sequence number. m From the serial number m Start by taking them one by one a For data points, if the following conditions are met , for a The minimum value among the data points indicates an upward trend in the spectrum; from Start by setting the maximum value. The data points are denoted as sequence numbers. n ,from n Start taking them in order from the beginning b For data points, if the following conditions are met Then the spectrum shows a downward trend; When the spectrum simultaneously satisfies both an upward and downward trend, a peak region is identified. When the serial number in the peak region n With serial number m If the difference exceeds the set threshold, the peak region is the target peak; otherwise, it is a false target peak and the peak region is removed. The peak coordinate determination module is configured to correct the target peak region based on the sequence numbers of the start point, end point, and maximum value point of the determined target peak region, in order to determine the valid data points within the corrected target peak region. The coordinates of the valid data points are then weighted and averaged to obtain the peak point coordinates. The process of determining valid data points includes: Let the starting point of the target peak region be the sequence number. m The end point is the serial number. n The maximum value point is the sequence number. ; Determine the serial number With serial number m The difference ; Determine the serial number n With serial number The difference ; The sequence numbers of the starting and ending points of the target peak region are corrected based on the two differences, thereby determining the corrected target peak region. nm Valid data points within: ； The target localization module is configured to determine the location of the detected target based on the coordinates of the peak point. The process is as follows: ； Where C is the speed of light. n This represents the number of frequency points of the step-frequency ground-penetrating radar. The step frequency, The dielectric constant of the medium, This is the position compensation coefficient. The value is the X-axis coordinate of the peak point.

6. An electronic device, characterized in that, It includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor, which, when executed by the processor, perform the method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, Used to store computer instructions, which, when executed by a processor, perform the method described in any one of claims 1-4.

Images