A ground penetrating radar three-dimensional imaging display method and radar

Abstract

The application discloses a ground penetrating radar three-dimensional imaging display method and radar. The method comprises the following steps: making the antenna move at a constant speed in a straight line, and transmitting a pulse to the ground at each distance node; receiving the pulse reflected by the ground features to form a return signal; weighting and averaging a plurality of return signals of the same ground feature at the same distance node to form a new return signal; arranging the new return signal in time sequence to form a radar scanning data matrix; performing Fourier transform on the radar scanning data matrix to obtain a frequency spectrum; performing frequency domain filtering processing on the frequency spectrum; performing inverse Fourier transform on the filtered frequency spectrum to obtain a processed radar scanning data matrix; and synthesizing the processed radar scanning data matrix to obtain a three-dimensional display of the ground features, so that the return signal corresponding to the ground features is more prominent, the calculation amount of data filtering is greatly reduced, and the speed and accuracy of the three-dimensional imaging display are improved.

Description

Technical Field

[0001] This application relates to the field of radar technology, and in particular to a three-dimensional imaging display method and radar for ground penetrating radar. Background Technology

[0002] Synthetic Aperture Radar (SAR) imaging is an imaging technique that obtains high-resolution radar images by synthesizing multiple radar echo signals. In SAR imaging, the radar system transmits a series of continuous radar pulse signals at ground features and receives the echo signal at each node. These signals are then combined to obtain a high-resolution radar image.

[0003] During the scanning of ground features, radar systems typically receive multiple echo signals at a single node. These echo signals are usually composed of scattered signals from the ground features themselves or environmental noise. Related technologies directly use these echo signals, but the resulting 3D imaging often exceeds the actual ground features. Some technologies perform noise reduction on these echo signals, but since radar systems receive echo signals at every node, the number of echo signals to be processed is large, and the computation time is long, leading to low efficiency in 3D imaging display. Summary of the Invention

[0004] This application provides a ground-penetrating radar three-dimensional imaging display method and radar to improve the accuracy and efficiency of three-dimensional imaging display.

[0005] In a first aspect, this application provides a three-dimensional imaging display method for ground-penetrating radar, comprising: causing an antenna to move in a uniform linear motion and transmitting pulses to the ground at each range node; receiving pulses reflected from ground features to form echo signals; weighting and averaging multiple echo signals of the same ground feature at the same range node to form a new echo signal; arranging the new echo signals in chronological order to form a radar scanning data matrix; performing a Fourier transform on the radar scanning data matrix to obtain a spectrum; performing frequency domain filtering on the spectrum; using an inverse Fourier transform on the filtered spectrum to obtain a processed radar scanning data matrix; and synthesizing the processed radar scanning data matrix to obtain a three-dimensional display of the ground features.

[0006] In the above embodiments, multiple echo signals are weighted and averaged into a new echo signal. This weighted amplification of the echo signal corresponding to ground features makes it more prominent, while the echo signal corresponding to scattered signals or environmental noise is weighted and reduced to decrease the impact of scattered signals or environmental noise on the 3D imaging display results. By combining multiple echo signals, a more comprehensive and accurate echo signal is obtained. Simultaneously, the echo signal is converted from the time domain to the frequency domain, using less information to describe the echo signal, significantly reducing the computational load of data filtering and improving the speed of 3D imaging display. Furthermore, since the echo signal corresponding to scattered signals or environmental noise has been previously weighted and reduced, it is easier to filter out these signals in the frequency domain, thus improving the accuracy of the 3D imaging display.

[0007] In conjunction with some embodiments of the first aspect, in some embodiments, multiple echo signals received from the same ground feature at the same distance node are weighted and averaged into a new echo signal. Specifically, this includes: normalizing these echo signals into different weight vectors; changing a certain weight vector to obtain the transition gain from one state to another, and iterating repeatedly for a preset number of times; obtaining various weight vectors in the state corresponding to the state with the maximum long-term gain based on the transition gain; and weighting and averaging multiple echo signals into a new echo signal based on the weight vectors.

[0008] In the above embodiments, by using various weight vectors in the state corresponding to the maximum long-term benefit, the optimal weight vector combination can be selected from different weight vector combinations, thereby maximizing the optimization and efficiency of the weight vector combination, and more reasonably weighting and averaging multiple echo signals into a new echo signal, thereby improving the accuracy of three-dimensional imaging display.

[0009] In conjunction with some embodiments of the first aspect, in some embodiments, the transfer gain is either a change in signal-to-noise ratio or a change in spectral distortion.

[0010] In the above embodiments, it is more reasonable to evaluate the frequency domain filtering effect by the change in signal-to-noise ratio and the change in spectral distortion, thereby improving the quality and reliability of subsequent weighted averaging.

[0011] In conjunction with some embodiments of the first aspect, in some embodiments, after weighted averaging of multiple echo signals of the same ground feature at the same range node into a new echo signal, and before arranging the new echo signal in chronological order to form a radar scanning data matrix, the method further includes: performing range correction on the new echo signal; and performing Doppler correction on the corrected echo signal.

[0012] In the above embodiments, the new echo signal is distance corrected to compress the echo signals of ground features at different distances onto the same time axis, thereby reducing the impact caused by the different time delays of the echo signals at different distances and improving the effect of three-dimensional imaging display. The corrected echo signal is then subjected to Doppler correction to convert echo signals at different speeds into echo signals at the same frequency, which facilitates the subsequent synthesis of radar scan data matrix to obtain a three-dimensional display of ground features.

[0013] In conjunction with some embodiments of the first aspect, in some embodiments, range correction is performed on the new echo signal, specifically including: calculating the distance between the ground feature and the radar at different distance nodes based on the propagation time and pulse propagation speed of the new echo signal; placing the echo signals of the same ground feature at different distance nodes into the time axis; using the echo signal of the distance node where the same ground feature is closest to the radar as the reference echo signal, shifting the remaining echo signals on the time axis so that the starting point of the remaining echo signals is the same as that of the reference echo signal on the time axis.

[0014] In the above embodiments, the reference echo signal is quickly located and the remaining echo signals are aligned with the reference echo signal to ensure that all echo signals are aligned according to the same standard, thereby improving the accuracy of distance correction and improving alignment efficiency. At the same time, the starting point of the echo signals of the same ground feature at different distance nodes is the same, so that the echo signals at different distances are located at the same distance.

[0015] In conjunction with some embodiments of the first aspect, in some embodiments, after using the echo signal of the distance node in the case where the same ground feature is closest to the radar as the reference echo signal, and shifting the remaining echo signals on the time axis so that the starting point of the remaining echo signals is the same as that of the reference echo signal on the time axis, the method further includes: using the reference echo signal as a reference, compressing the remaining echo signals on the time axis so that the length of the remaining echo signals is the same as that of the reference echo signal on the time axis.

[0016] In the above embodiment, the remaining echo signals are compressed on the time axis so that the remaining echo signals and the reference echo signals have the same length on the time axis, and the echo signals at different distances have the same wavelength.

[0017] In conjunction with some embodiments of the first aspect, in some embodiments, Doppler correction is performed on the corrected echo signal, specifically including: calculating the Doppler frequency shift based on the velocity and direction of the ground feature; and performing frequency shift on the corrected echo signal of the same ground feature at different distance nodes based on the calculated Doppler frequency shift.

[0018] In the above embodiments, the influence of Doppler frequency shift on the quality of three-dimensional imaging display can be eliminated, thereby improving the accuracy and reliability of three-dimensional imaging display.

[0019] Secondly, this application also provides a ground-penetrating radar, the radar comprising:

[0020] The motion module is used to make the antenna move in a uniform linear motion.

[0021] The pulse transmission module is used to transmit pulses to the ground at each distance node;

[0022] The receiving pulse module is used to receive pulses reflected from the ground features and form echo signals;

[0023] The pulse synthesis module is used to weighted average multiple echo signals of the same ground feature at the same distance node into a new echo signal.

[0024] The arrangement module is used to arrange new echo signals in chronological order to form a radar scan data matrix;

[0025] The Fourier transform module is used to perform Fourier transform on the radar scan data matrix to obtain the spectrum;

[0026] The filtering module is used to perform frequency domain filtering on the spectrum;

[0027] The inverse Fourier transform module is used to perform an inverse Fourier transform on the filtered spectrum to obtain the processed radar scan data matrix.

[0028] The display module is used to synthesize the processed radar scan data matrix to obtain a three-dimensional display of ground features.

[0029] In conjunction with some embodiments of the second aspect, in some embodiments, the pulse synthesis module further includes:

[0030] The first pulse synthesis submodule is used to normalize these echo signals into different weight vectors;

[0031] The second pulse synthesis submodule is used to change a certain weight vector, obtain the transition benefit from transitioning from one state to another, and iterate repeatedly for a preset number of times.

[0032] The third pulse synthesis submodule is used to obtain various weight vectors in the state corresponding to the maximum long-term return based on the transfer return; the fourth pulse synthesis submodule is used to weighted average multiple echo signals into a new echo signal based on the weight vectors.

[0033] In conjunction with some embodiments of the second aspect, in some embodiments, the transfer gain is either the change in signal-to-noise ratio or the change in spectral distortion.

[0034] In conjunction with some embodiments of the second aspect, in some embodiments, the radar further includes:

[0035] The distance correction module is used to correct the distance of new echo signals;

[0036] The Doppler correction module is used to perform Doppler correction on the corrected echo signal.

[0037] In conjunction with some embodiments of the second aspect, in some embodiments, the distance correction module further includes:

[0038] The first distance correction submodule is used to calculate the distance between the ground feature and the radar at different distance nodes based on the propagation time of the new echo signal and the propagation speed of the pulse.

[0039] The second distance correction submodule is used to put the echo signals of the same ground feature at different distance nodes into the time axis;

[0040] The third range correction submodule is used to use the echo signal of the range node when the same ground feature is closest to the radar as the reference echo signal, and to move the remaining echo signals on the time axis so that the starting point of the remaining echo signals is the same as that of the reference echo signal on the time axis.

[0041] In conjunction with some embodiments of the second aspect, in some embodiments, the distance correction module further includes:

[0042] The fourth distance correction submodule is used to compress the remaining echo signals on the time axis based on the reference echo signal, so that the remaining echo signals have the same length on the time axis as the reference echo signal.

[0043] In conjunction with some embodiments of the second aspect, in some embodiments, the Doppler correction module further includes:

[0044] The first Doppler correction submodule is used to calculate the Doppler frequency shift based on the velocity and direction of ground features;

[0045] The second Doppler correction submodule is used to perform frequency shifting on the corrected echo signals of the same ground feature at different distance nodes based on the calculated Doppler frequency shift.

[0046] Thirdly, embodiments of this application provide an electronic device, which includes: one or more processors and a memory;

[0047] The memory is coupled to the one or more processors and is used to store computer program code, which includes computer instructions that the one or more processors call to cause the electronic device to perform the methods described in the first aspect and any possible implementation thereof.

[0048] Fourthly, embodiments of this application provide a computer program product containing instructions that, when the computer program product is run on an electronic device, cause the electronic device to perform the method described in the first aspect and any possible implementation thereof.

[0049] Fifthly, embodiments of this application provide a computer-readable storage medium including instructions that, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect and any possible implementation thereof.

[0050] Understandably, the ground-penetrating radar three-dimensional imaging display audio device provided in the second aspect, the electronic device provided in the third aspect, the computer program product provided in the fourth aspect, and the computer storage medium provided in the fifth aspect are all used to execute the wireless hotspot connection method provided in the embodiments of this application. Therefore, the beneficial effects it can achieve can be referred to the beneficial effects in the corresponding methods, and will not be repeated here.

[0051] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0052] 1. The ground-penetrating radar 3D imaging display method provided in this application weights and averages multiple echo signals into a new echo signal. This weighted amplification of the echo signal corresponding to ground features makes it more prominent, while the weighted reduction of the echo signal corresponding to scattered signals or environmental noise reduces the impact of scattered signals or environmental noise on the 3D imaging display results. By combining multiple echo signals, a more comprehensive and accurate echo signal is obtained. Simultaneously, the echo signal is converted from the time domain to the frequency domain, using less information to describe the echo signal, significantly reducing the computational load of data filtering and improving the speed of 3D imaging display. Furthermore, since the echo signal corresponding to scattered signals or environmental noise has been previously weighted and reduced, it is easier to filter out the echo signal corresponding to scattered signals or environmental noise in the frequency domain, thus improving the accuracy of the 3D imaging display.

[0053] 2. The ground-penetrating radar three-dimensional imaging display method provided in this application can select the optimal weight vector combination from different weight vector combinations by using various weight vectors under the state corresponding to the maximum long-term benefit, thereby maximizing the optimization and efficiency of the weight vector combination, and more reasonably weighting and averaging multiple echo signals into a new echo signal, thereby improving the accuracy of three-dimensional imaging display.

[0054] 3. The ground-penetrating radar three-dimensional imaging display method provided in this application performs range correction on the new echo signal, compresses the echo signals of ground features at different distances onto the same time axis, reduces the influence caused by the different time delays of echo signals at different distances, and improves the effect of three-dimensional imaging display. The corrected echo signal is then subjected to Doppler correction to convert echo signals with different velocities into echo signals with the same frequency, which facilitates the subsequent synthesis of radar scanning data matrix to obtain a three-dimensional display of ground features. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of an information interaction scenario for the ground-penetrating radar provided in this application.

[0056] Figure 2 This is an exemplary scene diagram of three-dimensional imaging display in related technologies.

[0057] Figure 3 This is a schematic diagram of an exemplary scene for a three-dimensional imaging display of the ground-penetrating radar three-dimensional imaging display method provided in this application.

[0058] Figure 4 This is a flowchart illustrating the three-dimensional imaging display method for ground-penetrating radar provided in this application.

[0059] Figure 5 This is a schematic diagram of another exemplary scene of three-dimensional imaging display for the ground-penetrating radar three-dimensional imaging display method provided in this application.

[0060] Figure 6 Another schematic diagram of the three-dimensional imaging display method for ground-penetrating radar provided in this application.

[0061] Figure 7 A schematic diagram of the modular virtual device for the ground-penetrating radar provided in this application.

[0062] Figure 8 A schematic diagram of the physical device of the ground-penetrating radar provided in this application. Detailed Implementation

[0063] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to and includes any or all possible combinations of one or more of the listed items.

[0064] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0065] (1) In some embodiments, for ease of description, the ground-penetrating radar three-dimensional imaging display method in this application may also be referred to as ground feature display method, three-dimensional imaging display method, etc., and may also be referred to by other names, which are not limited here.

[0066] (2) In some embodiments, for ease of description, the pulses sent by the antenna in the ground penetrating radar three-dimensional imaging display method provided in this application may also be called electromagnetic waves, and the pulses reflected by ground features may be called electromagnetic waves or secondary scattered electromagnetic waves, etc., or may be called other names, which are not limited here.

[0067] like Figure 1 As shown, Figure 1 This is a schematic diagram of an information interaction scenario for the ground-penetrating radar provided in this application.

[0068] This includes radar and external display devices, as well as small computing terminal devices;

[0069] In radar, at a given location node, the transmitter in the radar, controlled by a timer, generates high-frequency, high-power pulses. These pulses travel through a transceiver switch to the antenna, radiating outwards as electromagnetic waves. Under the control of the antenna control equipment, the pulses scan space in a specified direction. When the electromagnetic waves strike ground features, a portion of the secondary scattered electromagnetic waves reaches the radar antenna, travels through the transceiver switch to the receiver, and undergoes amplification, mixing, and detection before being sent to the radar processor group. This processor group then repositions the antenna to the next location node. Similarly, the above steps are repeated, amplifying, mixing, and detecting the secondary scattered electromagnetic waves before sending them to the radar processor group. Upon receiving the amplified, mixed, and detected electromagnetic waves, the radar processor group arranges the electromagnetic waves from different location nodes in chronological order to form a radar scan data matrix. This radar scan data matrix is ​​then synthesized to obtain a three-dimensional display of the ground features, i.e., a high-resolution radar image. Finally, the radar image is converted into a digital signal and sent to a small computing terminal device.

[0070] In the realm of small computing terminal devices, these devices receive digital signals, convert them into electrical signals, decode them, and then convert them into image file formats. Examples of small computing terminal devices include mobile phone processors, tablet processors, laptop processors, and desktop computer processors; no further limitation is made here.

[0071] Regarding display devices, the display devices show radar images. These devices include mobile phone screens, tablet screens, laptop screens, displays, etc., without limitation.

[0072] Figure 2 This is an exemplary scene diagram of three-dimensional imaging display in related technologies.

[0073] like Figure 2 As shown in (a), the antenna in the radar transmits pulses to the ground, the ground features reflect the pulses, the radar receives the reflected pulses, processes them to form an echo signal; then the antenna moves in a uniform linear motion, and the above steps are repeated at the next range node. Theoretically, a ground feature at a range node will only receive one echo signal.

[0074] like Figure 2 As shown in (b), a ground feature corresponds to an echo signal at each distance node.

[0075] In practical applications, each distance node has a schematic diagram containing ground features. Here, for a clearer and more intuitive display, these schematic diagrams are combined into a waveform diagram. In other embodiments, other forms may also be used, which are not limited here.

[0076] like Figure 2 As shown in (c), the echo signals of a ground feature at different distance nodes are vector-summed to obtain a three-dimensional image display of the ground feature. The three-dimensional image displays of all ground features are summed to obtain the final three-dimensional image display result.

[0077] The aforementioned related technologies utilize synthetic aperture radar imaging technology to obtain three-dimensional imaging displays, and obtain high-resolution radar images by synthesizing multiple radar echo signals.

[0078] The following is combined with Figure 3 The illustrated embodiment, and with reference to Figure 2 The three-dimensional imaging display method of ground-penetrating radar in the embodiments of this application is described in detail below:

[0079] Figure 3 This is a schematic diagram of an exemplary scene for a three-dimensional imaging display of the ground-penetrating radar three-dimensional imaging display method provided in this application.

[0080] refer to Figure 2 In (a), the antenna in the radar transmits a pulse to the ground, the ground feature reflects the pulse, the radar receives the reflected pulse, processes it to form an echo signal; then the antenna moves in a uniform linear motion, and the above steps are repeated at the next range node. Theoretically, a ground feature at a range node will only receive one echo signal.

[0081] As mentioned in the above embodiments, the pulse is radiated outward in the form of electromagnetic waves. The echo signal is formed after processing the pulse, so a waveform diagram is used to display the echo signal. Due to the scattering signals from the ground feature itself or environmental noise—such as signals reflected multiple times from the ground feature and noise generated by radar—multiple echo signals are typically received for a single ground feature at a given range node. Figure 3 As shown in (a) in this embodiment, when the ground feature A is at a distance of node N, it receives three echo signals. Echo signal 1 is the actual echo signal of ground feature A, echo signal 2 is the scattered echo signal of ground feature A, and echo signal 3 is the environmental noise echo signal of ground feature A. Of course, in actual applications, more echo signals may be received, and the form of the echo signal can be other forms, which is not limited here.

[0082] In practical applications, the aforementioned multiple echo signals will appear in the same waveform diagram. Here, for a clearer and more intuitive demonstration, a waveform diagram containing multiple echo signals is split into a waveform diagram containing only a single echo signal. Of course, other forms may also be used in other embodiments, which are not limited here.

[0083] In practical applications, the echo signal is much stronger than... Figure 3 The diagram in (a) is more complex than the one in the diagram. For the sake of clarity, a simpler echo signal waveform is used here.

[0084] like Figure 3 As shown in (b), multiple echo signals of ground feature A at a distance of node N are weighted and averaged into a new echo signal. In this case, the actual echo signal 1 of ground feature A is weighted and amplified, while other echo signals, such as scattered echo signal 2 and ambient noise echo signal 3, are weighted and reduced. Thus, ground feature A at a distance of node N corresponds to only one echo signal.

[0085] Similarly, the multiple echo signals of the remaining ground features at the remaining distance node N are weighted and averaged to form a new echo signal.

[0086] like Figure 3 As shown in (c), the new echo signal is converted from the time domain to the frequency domain, referring to... Figure 3 (b) and Figure 3 As shown in (c), for the same echo signal, less information is used in the frequency domain than in the time domain, making the characteristics of the echo signal more intuitive.

[0087] Similarly, the echo signals of other ground features at other distance nodes N are converted from the time domain to the frequency domain.

[0088] The time domain refers to the variation of the echo signal over time, typically with time as the independent variable and the amplitude of the echo signal as the dependent variable. The frequency domain refers to the variation of the echo signal over frequency, typically with frequency as the independent variable and the amplitude of the echo signal as the dependent variable.

[0089] like Figure 3 As shown in (d), the frequency domain filtering process is performed on the spectrum of ground feature A at distance node N. A frequency range is set, and only a part of the echo signal within the range is allowed to pass through, while the other part of the echo signal outside the range is filtered out.

[0090] Similarly, the spectrum of the remaining ground features at the remaining distance node N is subjected to frequency domain filtering.

[0091] like Figure 3 As shown in (e), the filtered spectrum is transformed from the frequency domain to the time domain using the inverse Fourier transform.

[0092] Similarly, the inverse Fourier transform is performed on the spectra of the remaining ground features at the remaining distance nodes N.

[0093] refer to Figure 2 In step (c), all echo signals of a ground feature at different distance nodes are vector-summed to obtain a three-dimensional image display of the ground feature. The three-dimensional image displays of all ground features are summed to obtain the final three-dimensional image display result.

[0094] It is evident that this ground-penetrating radar 3D imaging display method weights and averages multiple echo signals into a new echo signal. This weighted amplification of the echo signal corresponding to ground features makes it more prominent, while the weighted reduction of the echo signal corresponding to scattered signals or environmental noise reduces the impact of scattered signals or environmental noise on the 3D imaging display results. By combining multiple echo signals, a more comprehensive and accurate echo signal is obtained. Simultaneously, converting the echo signal from the time domain to the frequency domain uses less information to describe the echo signal, significantly reducing the computational load of data filtering and improving the speed of 3D imaging display. Furthermore, since the echo signal corresponding to scattered signals or environmental noise has been previously weighted and reduced, it is easier to filter out these signals during frequency domain filtering, thus improving the accuracy of the 3D imaging display.

[0095] It is understood that the above scenario is only an exemplary scenario. In practical applications, the echo signal can be other content or form, which is not limited here.

[0096] The three-dimensional imaging display method of ground-penetrating radar in this embodiment is described below:

[0097] Please see Figure 4This is a flowchart illustrating the three-dimensional imaging display method for ground-penetrating radar provided in this application.

[0098] S401: Make the antenna move at a constant linear speed and transmit pulses to the ground at each distance node;

[0099] It should be noted that this embodiment uses only a small antenna, which moves along a straight line and transmits pulses to the ground at each distance node. The length of the straight line that this antenna moves is equivalent to the length of the large antenna in the array. In other embodiments, multiple antennas are used to form a linear array, and the radiation direction of this linear array can be defined as the product of the radiation direction of a single element and the array factor.

[0100] In actual use, the direction of the pulse emitted by the antenna will not change as the distance node changes.

[0101] S402: Receives pulses reflected from ground features and forms echo signals;

[0102] In practical use, due to the presence of scattered signals, the pulse reflected by ground feature A received by the next distance node N+1 may be a pulse reflected multiple times by ground feature A under the previous distance node N, which will cause problems in subsequent processing. Therefore, there is a certain time interval between the step of a distance node N transmitting a pulse to the ground and receiving the pulse reflected by ground feature A to form an echo signal and the step of the next distance node N+1 transmitting a pulse to the ground and receiving the pulse reflected by ground feature A to form an echo signal, so as to ensure that each distance node will only receive the echo signal corresponding to that distance node.

[0103] S403: Weighted average of multiple echo signals received from the same ground feature at the same distance node into a new echo signal;

[0104] Weighted synthesis is a method based on weighted calculations used to combine multiple echo signals into a single echo signal. In weighted synthesis, each echo signal has a corresponding weight; a larger weight indicates a greater influence of that quantity on the synthesis result, and vice versa. The purpose of weighted synthesis is to combine multiple echo signals to obtain a more comprehensive and accurate evaluation result.

[0105] The formula for weighted composition is:

[0106]

[0107] In the formula, S represents the new echo signal, x i w represents the i-th echo signal. iThis represents the weight corresponding to the i-th echo signal, and n represents the number of echo signals. Of course, it can also be other content or forms, which are not limited here.

[0108] The weight of the echo signal is related to its distance from the radar; the farther the echo signal, the smaller its weight. It is also related to the frequency; the higher the frequency of the echo signal, the greater its weight. This is because the signals reflected multiple times from ground features are farther from the radar, and the frequency of the noise generated by the radar is lower. Of course, the echo signal weight can also take other forms, which are not limited here. Similarly, multiple echo signals from other ground features at other distance nodes are weighted and averaged to form a new echo signal.

[0109] S404: Arrange the new echo signals in chronological order to form a radar scan data matrix;

[0110] As can be seen from the above embodiments, the antenna moves at a constant linear speed, so the time sequence is also the sequence of distance nodes.

[0111] A radar scan data matrix is ​​a matrix obtained by arranging newly acquired echo signals in chronological order. The rows of the matrix represent different times, i.e., different range nodes, and the columns represent different ground features. Of course, other content or formats are also possible; no limitation is made here. The data points are the echo signal data corresponding to the respective range node and ground feature.

[0112] S405: Perform a Fourier transform on the radar scan data matrix to obtain the spectrum;

[0113] The Fourier transform can be obtained using the formulas for continuous Fourier transform, discrete Fourier transform, or fast Fourier transform; no specific formula is specified here.

[0114] The spectrum is the frequency variation of the echo signal, usually with frequency as the independent variable and amplitude of the echo signal as the dependent variable.

[0115] Similarly, the data structure of this spectrum is the same as that of the radar scan data matrix, except that the echo signal data represented by each data point is converted from the time domain to the frequency domain.

[0116] S406: Perform frequency domain filtering on the spectrum according to the preset frequency range;

[0117] In some embodiments, the echo signal of a ground feature in the frequency domain at a distance node can be filtered by setting a frequency range within which a portion of the echo signal passes, while the portion outside the range is filtered out. Similarly, all echo signals of all ground features in the frequency domain at all distance nodes can be filtered. Of course, to reduce computational load, the frequency range used for the same ground feature can be consistent.

[0118] In some embodiments, the echo signal of a ground feature in the frequency domain at a distance node can be filtered out by setting a frequency range, where echo signals within the range are partially filtered out, while echo signals outside the range are allowed to pass. Similarly, all echo signals of all ground features in the frequency domain at all distance nodes can be filtered. Of course, to reduce computational load, the frequency range used for the same ground feature can be consistent.

[0119] Of course, other filtering methods or forms can also be used, and no restrictions are imposed here.

[0120] S407: The filtered spectrum is subjected to inverse Fourier transform to obtain the processed radar scan data matrix;

[0121] The Fourier transform can be derived from the inverse Fourier transform formula, which is not specified here.

[0122] The processed radar scan data matrix has the same data structure as the unprocessed radar scan data matrix, except that the scattering signals of the echo signals or environmental noise in the processed radar scan data matrix are filtered out.

[0123] S408: The processed radar scan data matrix is ​​synthesized to obtain a three-dimensional display of ground features;

[0124] The three-dimensional image of a ground feature is obtained by vector summing all echo signals at different distance nodes. The three-dimensional images of all ground features are summed to obtain the final three-dimensional image display result.

[0125] As can be seen, this ground-penetrating radar 3D imaging display method combines multiple echo signals into a single echo signal and weights and averages them to form a new echo signal. This weighted amplification of the echo signal corresponding to ground features makes it more prominent, while the weighted reduction of the echo signal corresponding to scattered signals or environmental noise reduces the impact of scattered signals or environmental noise on the 3D imaging display results. By combining multiple echo signals, a more comprehensive and accurate echo signal is obtained, reducing the workload of subsequent processing. Simultaneously, converting the echo signal from the time domain to the frequency domain uses less information to describe the echo signal, significantly reducing the computational load of data filtering and improving the speed of 3D imaging display. Furthermore, since the echo signal corresponding to scattered signals or environmental noise has been weighted and reduced beforehand, it is easier to filter out these signals in the frequency domain, thus improving the accuracy of the 3D imaging display.

[0126] In the above embodiments, simply weighting and averaging multiple echo signals into a new echo signal can reduce the impact of scattered signals or environmental noise. However, in practical applications, since the echo signal is formed by the radar receiving pulses reflected from ground features, the start time and length of the echo signal in the time domain differ for the same ground feature at different range nodes, leading to problems in subsequent processing. The following section will combine... Figure 5 The illustrated embodiment, taking one method of processing the echo signal as an example, provides a detailed description of the ground-penetrating radar three-dimensional imaging display method in this application:

[0127] Figure 5 This is an exemplary scene diagram of the three-dimensional imaging display method of ground penetrating radar provided in this application, displayed in another dimension.

[0128] like Figure 5 As shown in (a) above, in the above embodiment, the antenna in the radar transmits pulses to the ground, the ground features reflect the pulses, the radar receives the reflected pulses, processes them to form an echo signal; then the antenna moves in a uniform linear motion, and repeats the above steps at the next distance node.

[0129] like Figure 5 As shown in (b), due to the movement of the antenna, the distance, azimuth, and angle between the antenna and the ground feature will change. Therefore, at different distance nodes, the start time and length of the echo signal received for the same ground feature will differ in the time domain. (Comparison follows.) Figure 2 As shown in (b), these echo signals of the same ground feature at different distance nodes can easily cause a large error between the displayed results and the actual results in the subsequent three-dimensional imaging display steps.

[0130] like Figure 5 As shown in (c), the echo signal of a certain distance node under a certain ground feature is selected as the reference echo signal. The remaining echo signals collected by other distance nodes under the same ground feature are moved on the time axis so that the starting point of the remaining echo signals is the same as that of the reference echo signal on the time axis.

[0131] Similarly, all echo signals of other ground features start at the same point on the time axis.

[0132] like Figure 5 As shown in (d) in the figure, under a certain ground feature, the echo signal of a certain distance node is selected as the reference echo signal, and the remaining echo signals of the distance node are compressed on the time axis so that the remaining echo signals and the reference echo signal have the same length on the time axis.

[0133] Similarly, all echo signals of other ground features are given the same length on the time axis.

[0134] For reference Figure 2 Image (b) in the image is similar after processing.

[0135] like Figure 5 As shown in (e), the echo signals of a ground feature at different distance nodes are vector-summed to obtain a three-dimensional image display of the ground feature. The three-dimensional image displays of all ground features are summed to obtain the final three-dimensional image display result.

[0136] It can be seen that by using this ground-penetrating radar three-dimensional imaging display method, the echo signals of ground features at different distances are compressed onto the same time axis, reducing the impact caused by the different time delays of echo signals at different distances, thereby improving the effect of three-dimensional imaging display.

[0137] The above embodiments have described various application scenarios of the ground-penetrating radar three-dimensional imaging display method. The following will combine... Figure 6 The illustrated embodiment provides a detailed description of the ground-penetrating radar three-dimensional imaging display method in this application:

[0138] Figure 6 This is another flowchart illustrating the three-dimensional imaging display method for ground-penetrating radar provided in this application.

[0139] S601: Makes the antenna move at a constant linear speed and transmits pulses to the ground at each distance node;

[0140] The steps used in this embodiment are based on the same concept as those used in the above embodiments. The specific implementation process is detailed in step S401, and will not be repeated here.

[0141] S602: Receives pulses reflected from ground features and forms echo signals;

[0142] The steps used in this embodiment are based on the same concept as those used in the above embodiments. The specific implementation process is detailed in step S402, and will not be repeated here.

[0143] S603: Normalize these echo signals into different weight vectors;

[0144] In this embodiment, the normalization formula used is:

[0145]

[0146] In the formula, x is the echo signal, x ′ The normalized echo signal, min is the minimum echo signal value, and max is the maximum echo signal value.

[0147] Of course, other normalization methods can also be used, and no restrictions are imposed here.

[0148] Normalize multiple echo signals at a certain distance node relative to a certain ground feature so that different echo signals are mapped to the same range, which facilitates comparison and calculation.

[0149] Similarly, the multiple echo signals of other ground features at other distance nodes are normalized into different weight vectors.

[0150] S604: Change a certain weight vector to obtain the transition gain from one state to another, and iterate repeatedly for a preset number of times. The transition gain is either the change in signal-to-noise ratio or the change in spectral distortion.

[0151] S605: Obtain various weight vectors in the state corresponding to the maximum long-term return based on the transfer income;

[0152] Of course, we need to choose an action in each state to maximize long-term gains. Specifically, we can define a policy function π(a|s) to represent the probability of choosing action a in state s. We can also define a value function v(s) to represent the long-term gain obtained by using the policy function π(a|s) in state s.

[0153] Based on the Bellman optimality equation, we can derive the basic formula for the Markov decision process:

[0154]

[0155] In the formula, v * p(s) represents the expected cumulative reward that can be obtained by adopting the optimal strategy in state s. ′ After taking action a in state s, r|s,a) transitions to state s. ′ And the probability of obtaining reward r, where γ represents the discount factor used to balance the importance of current rewards and future rewards.

[0156] Of course, the long-term benefit is either the change in signal-to-noise ratio or the change in spectral distortion.

[0157] Signal-to-noise ratio (SNR) is the ratio of echo signal to noise, and it is an important indicator for measuring the quality of echo signals. In practical applications, echo signals are often affected by noise interference. A higher SNR indicates less noise in the echo signal and better echo signal quality, while a lower SNR indicates worse echo signal quality.

[0158] Spectral distortion refers to the difference between the spectrum of the unprocessed echo signal and the spectrum of the processed echo signal after noise reduction. The smaller the spectral distortion, the better the noise reduction effect.

[0159] Similarly, calculate the echo signal weights for the remaining ground features at the remaining distance nodes.

[0160] Of course, in order to reduce the amount of computation, the weight vector used for the same ground feature at different distance nodes can be the same. Therefore, it is only necessary to calculate the weight vector used for different ground features.

[0161] S606: Weighted average of multiple echo signals into a new echo signal based on the weight vector;

[0162] The steps used in this embodiment are based on the same concept as those used in the above embodiments. The specific implementation process is detailed in step S403, and will not be repeated here.

[0163] As can be seen from the above embodiments, since the echo signal is formed by the radar receiving the pulse reflected from the ground feature, the start time and length of the echo signal in the time domain are different for the same ground feature at different range nodes, which leads to problems in subsequent processing.

[0164] Therefore, it is necessary to perform distance correction on the echo signals of the same ground feature at different distance nodes.

[0165] S607: Calculate the distance between the ground feature and the radar at different distance nodes based on the propagation time of the new echo signal and the propagation speed of the pulse;

[0166] S608: Place the echo signals of the same ground feature at different distance nodes into the time axis;

[0167] It is easy to see that the different start times of different echo signals in the time domain are caused by two factors: firstly, the distance between the radar and the ground feature is different for the same ground feature at different range nodes; secondly, the time of the range node is different at different range nodes.

[0168] S609: Using the echo signal of the distance node closest to the radar under the same ground feature as the reference echo signal, the remaining echo signals are moved on the time axis so that the starting point of the remaining echo signals and the reference echo signal is the same on the time axis; this places echo signals at different distances at the same starting point, providing a basis for subsequent signal processing and three-dimensional imaging display.

[0169] In actual use, the movement of the antenna can also cause the angle between the antenna and the ground features to change, thus the length of the echo signal in the time domain will be different.

[0170] Similarly, all echo signals of other ground features start at the same point on the time axis.

[0171] S610: Using the reference echo signal as a reference, compress the remaining echo signals on the time axis so that the remaining echo signals have the same length on the time axis as the reference echo signal.

[0172] Similarly, all echo signals of other ground features are given the same length on the time axis.

[0173] S611: Determine whether the frequency of the echo signal of the ground feature changes at different distance nodes;

[0174] When ground features move relative to the radar, the frequency of the echo signal changes, and this change affects the quality and accuracy of subsequent 3D imaging.

[0175] Of course, some ground features do not move relative to the radar. Therefore, it is necessary to determine whether the echo signal frequency of the ground feature changes at different distance nodes in order to determine whether the ground feature moves relative to the radar.

[0176] S612: The frequency of the echo signal from ground features changes at different distance nodes. The Doppler frequency shift is calculated based on the velocity and direction of the ground features.

[0177] At this moment, the ground feature is moving relative to the radar. Based on the velocity and direction of the ground feature, the Doppler frequency shift of the echo signal can be calculated. The magnitude and direction of the Doppler frequency shift depend on factors such as the velocity and direction of the ground feature, as well as the angle between the radar and the ground feature.

[0178] S613: Based on the calculated Doppler frequency shift, perform frequency shift on the corrected echo signals of the same ground feature at different distance nodes; execute step S614;

[0179] Based on the calculated Doppler frequency shift, the echo signal can be shifted accordingly, compressing the echo signals at different Doppler frequency shifts onto the same frequency axis. This eliminates the impact of the Doppler frequency shift on the quality of subsequent 3D imaging, improving the accuracy and reliability of 3D imaging.

[0180] S614: The frequency of the echo signal of the ground feature at different distance nodes does not change, or the echo signal is frequency shifted and arranged in time order to form a radar scanning data matrix.

[0181] The steps used in this embodiment are based on the same concept as those used in the above embodiments. The specific implementation process is detailed in step S404, and will not be repeated here.

[0182] S615: Perform a Fourier transform on the radar scan data matrix to obtain the spectrum;

[0183] The steps used in this embodiment are based on the same concept as those used in the above embodiments. The specific implementation process is detailed in step S405, and will not be repeated here.

[0184] S616: Perform frequency domain filtering on the spectrum;

[0185] The steps used in this embodiment are based on the same concept as those used in the above embodiments. The specific implementation process is detailed in step S406, and will not be repeated here.

[0186] It should be noted that in the above embodiments, multiple echo signals are weighted and averaged into a new echo signal. The actual echo signal will lose some data. When this data is supplemented by scattered signals or environmental noise, the total data loss is not too much. However, when the spectrum is filtered in the frequency domain, the total data will have a certain data loss. Although most of the lost data is scattered signals or environmental noise, the filtered spectrum can be enhanced to make it the same as the data amount of the actual echo signal.

[0187] In some embodiments, a statistical enhancement method is employed, which processes and enhances the statistical properties of the spectrum, such as the mean and variance. Of course, other enhancement methods may also be used, and this is not limited here.

[0188] S617: The filtered spectrum is subjected to inverse Fourier transform to obtain the processed radar scan data matrix;

[0189] The steps used in this embodiment are based on the same concept as those used in the above embodiments. The specific implementation process is detailed in step S407, and will not be repeated here.

[0190] S618: The processed radar scan data matrix is ​​synthesized to obtain a three-dimensional display of ground features;

[0191] The steps used in this embodiment are based on the same concept as those used in the above embodiments. The specific implementation process is detailed in step S408, and will not be repeated here.

[0192] As can be seen from the above technical solution, the ground-penetrating radar 3D imaging display method provided in this application weights and averages multiple echo signals into a new echo signal. This weights and amplifies the echo signal corresponding to ground features, making it more prominent, while weighting and reducing the echo signal corresponding to scattered signals or environmental noise. This reduces the impact of scattered signals or environmental noise on the 3D imaging display results, and by combining multiple echo signals, a more comprehensive and accurate echo signal is obtained. Simultaneously, the echo signal is converted from the time domain to the frequency domain, using less information to describe the echo signal, significantly reducing the computational load of data filtering and improving the speed of 3D imaging display. Furthermore, since the echo signal corresponding to scattered signals or environmental noise has been previously weighted and reduced, it is easier to filter out the echo signal corresponding to scattered signals or environmental noise in the frequency domain, thereby improving the accuracy of the 3D imaging display.

[0193] The ground-penetrating radar three-dimensional imaging display method provided in this application can select the optimal weight vector combination from different weight vector combinations by using various weight vectors under the state corresponding to the maximum long-term benefit, thereby maximizing the optimization and efficiency of the weight vector combination, and more reasonably weighting and averaging multiple echo signals into a new echo signal, thus improving the accuracy of three-dimensional imaging display.

[0194] The ground-penetrating radar three-dimensional imaging display method provided in this application performs range correction on the new echo signal, compresses the echo signals of ground features at different distances onto the same time axis, reduces the impact caused by the different time delays of echo signals at different distances, and improves the effect of three-dimensional imaging display. The corrected echo signal is then subjected to Doppler correction to convert echo signals with different velocities into echo signals with the same frequency, which facilitates the subsequent synthesis of radar scan data matrix to obtain a three-dimensional display of ground features.

[0195] The following are device embodiments of this application, which can be used to execute the method embodiments of this application. For details not disclosed in the device embodiments of this application, please refer to the method embodiments of this application.

[0196] Please see Figure 7 This illustration shows a schematic diagram of a modular virtual device for a ground-penetrating radar provided in an exemplary embodiment of this application. This radar can be implemented as all or part of a radar system through software, hardware, or a combination of both.

[0197] The radar includes: a motion module 701 for making the antenna move in a uniform linear motion;

[0198] The pulse transmission module 702 is used to transmit pulses to the ground at each distance node;

[0199] The pulse receiving module 703 is used to receive pulses reflected from ground features and form echo signals;

[0200] The pulse synthesis module 704 is used to weight-average multiple echo signals of the same ground feature at the same distance node into a new echo signal.

[0201] Arrangement module 705 is used to arrange new echo signals in chronological order to form a radar scan data matrix;

[0202] The Fourier transform module 706 is used to perform Fourier transform on the radar scan data matrix to obtain the spectrum;

[0203] The filtering module 707 is used to perform frequency domain filtering on the spectrum.

[0204] The inverse Fourier transform module 708 is used to perform an inverse Fourier transform on the filtered spectrum to obtain the processed radar scan data matrix.

[0205] Display module 709 is used to synthesize the processed radar scan data matrix to obtain a three-dimensional display of ground features.

[0206] In other embodiments, the pulse synthesis module 704 further includes:

[0207] The first pulse synthesis submodule is used to normalize these echo signals into different weight vectors;

[0208] The second pulse synthesis submodule is used to change a certain weight vector, obtain the transition benefit from transitioning from one state to another, and iterate repeatedly for a preset number of times.

[0209] The third pulse synthesis submodule is used to obtain various weight vectors in the state corresponding to the maximum long-term return based on the transfer return; the fourth pulse synthesis submodule is used to weighted average multiple echo signals into a new echo signal based on the weight vectors.

[0210] In other embodiments, the transfer gain is either a change in signal-to-noise ratio or a change in spectral distortion.

[0211] In other embodiments, the radar further includes:

[0212] The distance correction module is used to correct the distance of new echo signals;

[0213] The Doppler correction module is used to perform Doppler correction on the corrected echo signal.

[0214] In other embodiments, the distance correction module further includes:

[0215] The first distance correction submodule is used to calculate the distance between the ground feature and the radar at different distance nodes based on the propagation time of the new echo signal and the propagation speed of the pulse.

[0216] The second distance correction submodule is used to put the echo signals of the same ground feature at different distance nodes into the time axis;

[0217] The third range correction submodule is used to use the echo signal of the range node when the same ground feature is closest to the radar as the reference echo signal, and to move the remaining echo signals on the time axis so that the starting point of the remaining echo signals is the same as that of the reference echo signal on the time axis.

[0218] In other embodiments, the distance correction module further includes:

[0219] The fourth distance correction submodule is used to compress the remaining echo signals on the time axis based on the reference echo signal, so that the remaining echo signals have the same length on the time axis as the reference echo signal.

[0220] In other embodiments, the Doppler correction module further includes:

[0221] The first Doppler correction submodule is used to calculate the Doppler frequency shift based on the velocity and direction of ground features;

[0222] The second Doppler correction submodule is used to perform frequency shifting on the corrected echo signals of the same ground feature at different distance nodes based on the calculated Doppler frequency shift.

[0223] It should be noted that the above embodiments of the apparatus are only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0224] This application also provides a computer storage medium that can store multiple instructions, which are adapted to be loaded and executed by a processor as described above. Figures 1-6 The three-dimensional imaging display method for ground-penetrating radar described in the illustrated embodiment can be further explained in the following steps: Figures 1-6 The specific details of the illustrated embodiments will not be elaborated here.

[0225] This application also discloses an electronic device. (See reference...) Figure 8 , Figure 8This is a schematic diagram of the physical device of the ground-penetrating radar disclosed in this application. The electronic device 800 may include: at least one processor 801, at least one network interface 804, a user interface 803, a memory 805, and at least one communication bus 802.

[0226] The communication bus 802 is used to enable communication between these components.

[0227] The user interface 803 may include a display screen and a camera. Optionally, the user interface 803 may also include a standard wired interface and a wireless interface.

[0228] The network interface 808 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0229] The processor 801 may include one or more processing cores. The processor 801 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 805, and by calling data stored in the memory 805. Optionally, the processor 801 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 801 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also be implemented as a separate chip without being integrated into the processor 801.

[0230] The memory 805 may include random access memory (RAM) or read-only memory. Optionally, the memory 805 may include a non-transitory computer-readable storage medium. The memory 805 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 805 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 805 may also be at least one storage device located remotely from the aforementioned processor 801. (Refer to...) Figure 8 The memory 405, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for displaying three-dimensional imaging of ground-penetrating radar.

[0231] exist Figure 8 In the illustrated electronic device 800, the user interface 803 is mainly used to provide an input interface for the user and acquire user input data; while the processor 801 can be used to call an application program for ground-penetrating radar three-dimensional imaging display stored in the memory 805. When executed by one or more processors 801, the electronic device 800 performs one or more of the methods described in the above embodiments. It should be noted that, for the foregoing method embodiments, for the sake of simplicity, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0232] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0233] In the various embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some service interface; the indirect coupling or communication connection between apparatuses or units may be electrical or other forms.

[0234] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0235] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0236] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0237] The above description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Other embodiments of this disclosure will be readily apparent to those skilled in the art upon consideration of the specification and the disclosure of practical truths.

[0238] This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are to be considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A three-dimensional imaging display method for ground-penetrating radar, characterized in that, include: Using a single antenna, the antenna moves at a constant linear speed and transmits pulses to the ground at each distance node; there is a time interval between the step of the current distance node transmitting and receiving a pulse to the ground and the step of the next distance node transmitting and receiving a pulse to the ground, so that each distance node only receives the echo signal corresponding to the distance node. It receives pulses reflected from the ground features to form an echo signal; Multiple echo signals of the same ground feature received at the same distance node are weighted and averaged into a new echo signal; wherein: the echo signal is normalized into different weight vectors; when iteratively determining the weight vector, the weights corresponding to the echo signals satisfy: distance is negatively correlated with weight, and frequency is positively correlated with weight; Change a certain weight vector to obtain the transition gain from one state to another, and iterate repeatedly for a preset number of times; the transition gain is either the change in signal-to-noise ratio or the change in spectral distortion. Based on the transfer income, obtain various weight vectors corresponding to the state where the long-term income is maximized; The multiple echo signals are weighted and averaged into a new echo signal according to the weight vector. Distance correction is performed on the new echo signal, specifically including: Based on the propagation time of the new echo signal and the propagation speed of the pulse, the distance between the ground feature and the radar at different distance nodes is calculated for different ground features. Echo signals of the same ground feature at different distance nodes are placed in the time axis; Using the echo signal of the distance node closest to the radar under the same ground feature as the reference echo signal, the remaining echo signals are shifted on the time axis so that the starting point of the remaining echo signals is the same as that of the reference echo signal on the time axis. Using the reference echo signal as a reference, the remaining echo signals are compressed on the time axis so that the remaining echo signals have the same length on the time axis as the reference echo signal. The new echo signals after range correction are arranged in chronological order to form a radar scan data matrix; The spectrum is obtained by performing a Fourier transform on the radar scan data matrix; The spectrum is then subjected to frequency domain filtering. The filtered spectrum is subjected to inverse Fourier transform to obtain the processed radar scan data matrix; The processed radar scan data matrix is ​​synthesized to obtain a three-dimensional display of ground features.

2. The ground-penetrating radar three-dimensional imaging display method according to claim 1, characterized in that, The Doppler correction of the corrected echo signal specifically includes: The Doppler frequency shift is calculated based on the velocity and direction of the ground features. Based on the calculated Doppler frequency shift, the corrected echo signals of the same ground feature at different distance nodes are frequency shifted.

3. A ground-penetrating radar, characterized in that, Performing the method as described in any one of claims 1-2, comprising: The motion module is used to make the antenna move in a uniform linear motion. The pulse transmission module is used to transmit pulses to the ground at each distance node; The receiving pulse module is used to receive pulses reflected from the ground features and form echo signals; A pulse synthesis module is used to weight-average multiple echo signals of the same ground feature at the same distance node into a new echo signal; The arrangement module is used to arrange the new echo signals in chronological order to form a radar scanning data matrix; The Fourier transform module is used to perform a Fourier transform on the radar scan data matrix to obtain the spectrum; The filtering module is used to perform frequency domain filtering on the spectrum; The inverse Fourier transform module is used to perform an inverse Fourier transform on the filtered spectrum to obtain the processed radar scan data matrix. The display module is used to synthesize the processed radar scan data matrix to obtain a three-dimensional display of ground features.

4. An electronic device, characterized in that, include: One or more processors and memory; The memory is coupled to the one or more processors, the memory being used to store computer program code, the computer program code including computer instructions, the one or more processors invoking the computer instructions to cause the electronic device to perform the method as described in any one of claims 1-2.

5. A computer-readable storage medium comprising instructions, characterized in that, When the instructions are executed on an electronic device, the electronic device causes the electronic device to perform the method as described in any one of claims 1-2.

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