A target positioning method, device and system based on ground penetrating radar data

Abstract

The present application relates to the field of radar positioning technology, and specifically to a method, device and system for target positioning based on ground-penetrating radar data, the method comprising: obtaining ground-penetrating radar data at multiple azimuths received by each array element; determining the reflection deviation of each array element based on the smoothness and sidelobe interference of the ground-penetrating radar data received by each array element; forming a binary group of the maximum value of the ground-penetrating radar data received by each array element and the azimuth corresponding to the maximum value, and determining the reflection fluctuation value of each array element based on the distribution of the binary group of each array element and its adjacent array elements in two-dimensional space; combining the reflection deviation and reflection fluctuation value of each array element to obtain the reflection correction value of each array element, and correcting the ground-penetrating radar data received by each array element; and positioning the target based on the ground-penetrating radar data corrected by all array elements. The present application aims to improve the positioning accuracy of underground targets.

Description

Technical Field

[0001] The present application relates to the field of radar positioning technology, and in particular to a target positioning method, device and system based on ground penetrating radar data. Background Art

[0002] Ground Penetrating Radar (GPR) is a physical detection method that uses high-frequency electromagnetic waves to detect the internal structure and characteristics of underground media. GPR target positioning refers to the use of radar technology to determine the precise location of underground targets. This technology mainly estimates the direction of arrival (DOA) of the object through the reflection and scattering characteristics of radar waves in underground media, thereby determining the azimuth information of the signal source relative to the receiver array. Because the GPR target positioning method is characterized by high precision, high efficiency and non-destructiveness, it is widely used in archaeology, mineral exploration, geological surveys and engineering quality inspections.

[0003] In traditional ground penetrating radar target positioning, when using the spatial spectrum estimation algorithm for DOA estimation, it is often assumed that the underground medium is uniform and the reflectivity of the underground target is consistent at different direction angles. However, in the actual positioning process, the reflectivity difference is caused by factors such as changes in the composition and shape of the target object, and the changes in the underground medium at different angles are not the same. Therefore, it is easy for the traditional spatial spectrum estimation algorithm to deviate when performing target positioning based on assumptions, and the positioning accuracy is low. Summary of the invention

[0004] In view of the above, it is necessary to provide a target positioning method, device and system based on ground penetrating radar data, which can improve the positioning accuracy of underground targets compared with traditional target positioning based on ground penetrating radar data:

[0005] In a first aspect, an embodiment of the present application provides a target positioning method based on ground penetrating radar data, the method comprising the following steps:

[0006] Acquire ground penetrating radar data received by each array element at multiple direction angles;

[0007] Determine the reflection deviation of each array element based on the smoothness and sidelobe interference of the ground penetrating radar data received by each array element;

[0008] The maximum value of the ground penetrating radar data received by each array element and the direction angle corresponding to the maximum value are combined into a binary group, and the reflection fluctuation value of each array element is determined based on the distribution of the binary groups of each array element and its adjacent array elements in two-dimensional space;

[0009] Combining the reflection deviation and reflection fluctuation value of each array element, the reflection correction value of each array element is obtained, and the ground penetrating radar data received by each array element is corrected;

[0010] Target positioning is performed based on the ground penetrating radar data after correction of all array elements.

[0011] In one embodiment, the process of determining the reflection deviation is:

[0012] For each array element, the ground penetrating radar data received by the array element is organized into a reflection intensity sequence according to the size of the direction angle;

[0013] Obtaining a fitting curve of the reflection intensity sequence of the array element, and calculating the fitting goodness of the fitting curve;

[0014] Obtaining the difference between adjacent maximum values ​​and minimum values ​​on the fitting curve, combining all the differences on the fitting curve, and fusing the combination result with the number of extreme value points on the fitting curve;

[0015] The reflection deviation of the array element is determined by combining the goodness of fit of the array element with the fusion result.

[0016] In one embodiment, the reflection deviation of the array element is the ratio of the goodness of fit of the array element to the fusion result.

[0017] In one embodiment, the process of determining the reflection fluctuation value is:

[0018] For each array element, the direction angle corresponding to the maximum value in the ground penetrating radar data received by the array element is recorded as the optimal direction angle, and the optimal direction angle and the ground penetrating radar data under the optimal direction angle are combined into a binary group;

[0019] Obtain the connection line of the two-tuple of the adjacent previous and next array elements of any array element in the two-dimensional space;

[0020] The distance from the binary group of any array element to the connecting line is taken as the reflection fluctuation value of any array element;

[0021] When the binary group of any array element is located above the connecting line, the distance is negative, and when it is located below the connecting line, the distance is positive.

[0022] In one embodiment, the process of determining the reflection correction value is:

[0023] The product of the reflection deviation and the reflection fluctuation value of each array element is calculated and recorded as the fluctuation product. The product of the normalized value of the fluctuation product and the preset parameter adjustment factor is used as the reflection correction value of each array element.

[0024] In one embodiment, the method for correcting the ground penetrating radar data received by each array element is: for each array element, multiplying the ground penetrating radar data received by the array element by the reflection correction value of the array element.

[0025] In one embodiment, the process of performing target positioning is: using the corrected ground penetrating radar data of all array elements as input of a spatial spectrum estimation algorithm, and outputting a reverse projection positioning map of the ground penetrating radar data.

[0026] In one embodiment, after the reverse projection localization map is acquired, points in the reverse projection localization map having an intensity greater than a preset intensity threshold are retained, and the remaining points are removed.

[0027] In a second aspect, an embodiment of the present application further provides a target positioning device based on ground penetrating radar data, the device comprising:

[0028] A ground penetrating radar data acquisition module is used to obtain ground penetrating radar data at multiple directional angles received by each array element;

[0029] A ground penetrating radar data correction module, used to determine the reflection deviation of each array element based on the fluctuation of the ground penetrating radar data received by each array element;

[0030] The maximum value of the ground penetrating radar data received by each array element and the direction angle corresponding to the maximum value are combined into a binary group, and the reflection fluctuation value of each array element is determined based on the distribution of the binary groups of each array element and its adjacent array elements in two-dimensional space;

[0031] Combining the reflection deviation and reflection fluctuation value of each array element, the reflection correction value of each array element is obtained, and the ground penetrating radar data received by each array element is corrected;

[0032] The target positioning module is used to locate the target based on the ground penetrating radar data after all array elements are calibrated.

[0033] In a third aspect, an embodiment of the present application also provides a target positioning system based on ground penetrating radar data, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the computer program, the steps of any one of the above-mentioned target positioning methods based on ground penetrating radar data are implemented.

[0034] This application has at least the following beneficial effects:

[0035] This application constructs a reflection intensity sequence based on the ground-penetrating radar data received by a single array element, and obtains the reflection deviation, which reflects the situation that the narrowband signal reflected by a single array element is subject to environmental interference and energy diffusion when transmitted in the underground medium;

[0036] The reflection fluctuation value is obtained by using the difference between the ground penetrating radar data received by adjacent array elements, which reflects the deviation between the maximum reflection intensity value under the best direction angle received by the array element and the reflection intensity under theoretical conditions.

[0037] Based on the reflection deviation and reflection fluctuation value, the reflection correction value is obtained, and the ground penetrating radar data received by the array element is corrected. The spatial spectrum estimation algorithm is used to obtain the reverse projection positioning map of the underground target of the ground penetrating radar. This reduces the influence of the assumptions of underground medium uniformity and the consistency of underground target reflectivity direction on the actual DOA estimation in the traditional DOA estimation process. The analysis of the ground penetrating radar data received by the array element is used to correct the received signal of each array element, so that it can better meet the algorithm assumptions in the actual detection process and improve the positioning accuracy of the underground target. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 A flowchart of a method for locating a target based on ground penetrating radar data provided by an embodiment of the present application;

[0040] Figure 2 It is the ground-penetrating model of MIMO radar;

[0041] Figure 3 is a schematic diagram of a process for determining reflection deviation;

[0042] Figure 4 Schematic diagram of the process of determining the reflection fluctuation value. DETAILED DESCRIPTION

[0043] In the description of the embodiments of the present application, words such as "exemplary", "or", "for example" and the like are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "or", "for example" and the like is intended to present related concepts in a concrete manner.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the present application. The terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. It should be understood that, unless otherwise specified, " / " means or.

[0045] It should also be noted that the terms "first" and "second" in the present application are used to distinguish similar objects rather than to describe a specific order or sequence.

[0046] The following is a detailed description of a specific scheme of a target positioning method, device and system based on ground penetrating radar data provided by the present application in conjunction with the accompanying drawings.

[0047] See also Figure 1 , which shows a flowchart of a target positioning method based on ground penetrating radar data provided by an embodiment of the present application, the method comprising the following steps:

[0048] Step 1: Acquire ground penetrating radar data received by each array element at multiple directional angles.

[0049] A multiple input multiple output (MIMO) radar system is used to obtain ground penetrating radar data of underground targets. Specifically, a single MIMO radar intelligent sensor detection device includes a uniform linear array with N array elements, and the array transmits and receives at the same address. The ground penetrating model of MIMO radar is as follows: Figure 2 As shown in the figure, X and Z represent coordinate axes, P represents underground targets, d represents the interval between two adjacent array elements, each array element includes a transmitting module and a receiving module, and each array element transmits mutually orthogonal narrowband signals. After the signals are transmitted in the underground medium, they are reflected by the underground targets and received by their respective array elements.

[0050] In one embodiment of the present application, the values ​​of N and d are 16 and 0.5 m respectively. The values ​​of N and d are preset manually and can be set by the implementer according to the actual situation. This application does not impose any special restrictions.

[0051] Step 2: Determine the reflection deviation of each array element based on the smoothness and sidelobe interference of the ground penetrating radar data received by each array element.

[0052] By controlling the azimuth angle of the transmitted narrowband signal, the underground signal is scanned, wherein the intervals between the azimuth angles are equal. For the reflection module of a single array element, the received signal of a single array element is the radar reflection intensity of all azimuth angles, that is, the received signal of a single array element is a reflection intensity sequence composed of the ground-penetrating radar data received by the array element according to the size of the azimuth angle.

[0053] Ideally, the narrowband signal of the array element transmitting module propagates in the underground medium, and is received by the receiving module after being reflected by the underground target. Therefore, the radar reflection intensity is large only in the direction of the line connecting the array element and the underground target, while in other directions, since there is no reflection from the underground target object, the radar reflection intensity value is small. And because the interval of the directional angle is small, the gradual change of the reflection intensity with the change of the angle is relatively smooth. However, the signal energy of the narrowband signal is diffused during the transmission of the underground medium, so there will be sidelobe interference.

[0054] Obtaining a fitting curve of the reflection intensity sequence of the array element, and calculating the fitting goodness of the fitting curve;

[0055] Obtaining the difference between adjacent maximum values ​​and minimum values ​​on the fitting curve, combining all the differences on the fitting curve, and fusing the combination result with the number of extreme value points on the fitting curve;

[0056] The reflection deviation of the array element is the ratio of the goodness of fit of the array element to the fusion result.

[0057] It should be understood that both combination and fusion refer to combining multiple independent variables in a way that enhances the overall effect, such as multiplication relationship, addition relationship, etc., and implementers can limit them according to actual conditions.

[0058] In one embodiment of the present application, a nonlinear least squares method is used to obtain a fitting curve. As other implementations, on the basis of obtaining a fitting curve of the reflection intensity sequence, the implementer may use other existing technologies to obtain a fitting curve of the reflection intensity sequence, such as nonlinear regression, exponential smoothing method, etc., and the present application does not impose any special restrictions.

[0059] In one embodiment of the present application, the sum of all the differences on the fitting curve is calculated, the product of the sum and the number of extreme points on the fitting curve is calculated, and the ratio of the goodness of fit of the array element to the product is used as the reflection deviation of the array element.

[0060] It should be noted that: the smoother the transition between adjacent data in the reflection intensity sequence, the less the array element is affected by environmental noise, and the greater the goodness of fit value; if the array element is more seriously interfered by side lobes, it means that the narrowband signal emitted by the array element diffuses and attenuates more seriously during transmission in the underground medium, resulting in more side lobes on the fitting curve, and the greater the sidelobe fluctuation, the greater the difference between the maximum and minimum values, the greater the number of extreme points, and the greater the fusion result; the reflection deviation reflects the interference received by a narrowband signal emitted by a single array element during transmission in the underground medium. If the narrowband signal interference is more serious, there will be more noise points in the reflection intensity sequence of the array element, the smaller the goodness of fit, and at the same time, due to the influence of energy diffusion, there will be more sidelobe interference, and the reflection deviation value will be larger. The schematic diagram of the reflection deviation determination process is as follows. Figure 3 shown.

[0061] Step 3, the maximum value of the ground penetrating radar data received by each array element and the direction angle corresponding to the maximum value are combined into a binary group, and the reflection fluctuation value of each array element is determined based on the distribution of the binary groups of each array element and its adjacent array elements in two-dimensional space.

[0062] In traditional ground-penetrating radar target positioning, the stronger the reflection intensity of the underground target to the signal transmitted by a single array element, the closer it is to the array element. This method is based on the assumption that the attenuation of narrowband signals in underground media is linear and the reflectivity of underground targets is consistent at different azimuths, but this assumption is not true in actual detection. It is possible that the reflectivity of the underground target is stronger at a certain azimuth, or the attenuation of the narrowband signal in this direction is smaller, resulting in a larger reflection intensity received by the array element, and misjudging the underground target as being closer to the array element. Therefore, it is necessary to further analyze the differences between the array elements on the MIMO radar linear array.

[0063] In the MIMO radar array, the distances between two adjacent array elements and the underground target are different, and the radar reflection intensity will change accordingly with the change of the optimal direction angle. For each array element, the optimal direction angle of the array element is the direction angle corresponding to the maximum value in the reflection intensity sequence of the array element, where the direction angle is the angle between the line between the underground target and the array element relative to the positive direction of the X-axis. The optimal direction angle and the ground penetrating radar data under the optimal direction angle are combined into a binary group.

[0064] Among different array elements, as the optimal direction angle increases, the maximum reflection intensity gradually increases. When the optimal direction angle reaches 90°, the maximum reflection intensity decreases as the optimal direction angle increases.

[0065] Based on the distribution of the binary group of each array element and its two adjacent array elements in two-dimensional space, the reflection fluctuation value of each array element is determined. The specific process is:

[0066] Obtain the connection line of the two-tuple of the adjacent previous and next array elements of any array element in the two-dimensional space;

[0067] The distance from the binary group of any array element to the connecting line is taken as the reflection fluctuation value of any array element;

[0068] The distance has positive and negative properties. When the binary group of any array element is located above the connecting line, the distance is negative, and when it is located below the connecting line, the distance is positive.

[0069] It should be noted that if any array element is the first or last array element, no processing will be performed.

[0070] In one embodiment of the present application, the distance is the Euclidean distance. As other implementation methods, on the basis of being able to measure the distance from a tuple to a line, the implementer may use other existing technologies to measure the distance from a tuple to a line, such as the Manhattan distance, etc. This application does not impose any special restrictions.

[0071] It should be understood that: if the location of any array element is greatly affected by the reflectivity of the underground medium and the underground target at this direction angle, the deviation of the binary group of any array element and the two adjacent front and rear array elements in two-dimensional space is large, that is, the maximum reflection intensity value at the optimal direction angle of the array element is greatly different from the reflection intensity under the theoretical condition, and the absolute value of the reflection fluctuation value is large; on the contrary, if the underground medium and reflectivity corresponding to any array element and the two adjacent front and rear array elements are basically consistent, the binary group between the three basically satisfies a linear relationship, and the reflection fluctuation value approaches zero. The schematic diagram of the process of determining the reflection fluctuation value is shown in the figure below. Figure 4 shown.

[0072] Step 4: Combine the reflection deviation and reflection fluctuation value of each array element to obtain the reflection correction value of each array element, and correct the ground penetrating radar data received by each array element.

[0073] Calculate the product of the reflection deviation and the reflection fluctuation value of each array element, record it as the fluctuation product, and take the product of the normalized value of the fluctuation product and the preset parameter adjustment factor as the reflection correction value of each array element. Set the reflection correction value of the first and last array elements to 1.

[0074] In one embodiment of the present application, the value of the preset parameter adjustment factor is 2. The value of the preset parameter adjustment factor is preset manually. When the reflection fluctuation value of the array element is negative, the reflection correction value of the array element is less than 1; when the reflection fluctuation value of the array element is positive, the reflection correction value of the array element is greater than 1. The implementer can set the value of the parameter adjustment factor by himself.

[0075] It should be noted that: if a single array element is seriously interfered by noise, the maximum reflection intensity value received by the array element is greater than the theoretical reflection intensity, the reflection fluctuation value is a negative value, and the reflection correction value is less than 1 at this time, which can achieve the purpose of reducing the radar receiving signal of the array element; on the contrary, if the maximum reflection intensity value received by the array element is less than the theoretical reflection intensity, the reflection fluctuation value is a positive value, and the reflection correction value is greater than 1 at this time, which can achieve the purpose of amplifying the radar receiving signal of the array element.

[0076] For each array element, the ground penetrating radar data received by the array element is multiplied by the reflection correction value of the array element, thereby achieving correction of the ground penetrating radar data.

[0077] Step 5: locating the target based on the GPR data after correction of all array elements.

[0078] The corrected GPR data of all array elements are used as the input of the spatial spectrum estimation algorithm, and the DOA estimation is performed using the spatial spectrum estimation algorithm. The algorithm outputs a reverse projection positioning map of the GPR data. In the obtained positioning map, the range and azimuth directions are the distance and direction of the underground target relative to the center of the MIMO radar device.

[0079] In one embodiment of the present application, a MUSIC (Multiple Signal Classification) algorithm is used for DOA estimation. As other implementations, on the basis of achievable DOA estimation, the implementer may use other existing technologies for DOA estimation, such as the ESPRIT (Estimation of Signal Parameters via Rotational Invariance Techniques) algorithm, etc., and the present application does not impose any special restrictions.

[0080] Due to the influence of the distance interval between array elements and the scanning angle interval of a single array element radar, there are radioactive lines in the reverse projection positioning map, which will interfere with the observer's observation of the positioning results. This application sets an intensity threshold, retains the points in the reverse projection positioning map that are greater than the intensity threshold, removes the remaining points, eliminates the interference of radioactive lines, and makes the reverse projection positioning map clearer. The processed reverse projection positioning map is provided to technical observers to provide data support for the observers' analysis and decision-making.

[0081] In one embodiment of the present application, the value of the intensity threshold is 0.6. The value of the intensity threshold is preset manually and can be set by the implementer. This application does not impose any special restrictions.

[0082] Based on the same inventive concept as the above method, the embodiment of the present application also provides a target positioning device based on ground penetrating radar data, including:

[0083] A ground penetrating radar data acquisition module is used to obtain ground penetrating radar data at multiple directional angles received by each array element;

[0084] A ground penetrating radar data correction module, used to determine the reflection deviation of each array element based on the fluctuation of the ground penetrating radar data received by each array element;

[0085] The maximum value of the ground penetrating radar data received by each array element and the direction angle corresponding to the maximum value are combined into a binary group, and the reflection fluctuation value of each array element is determined based on the distribution of the binary groups of each array element and its adjacent array elements in two-dimensional space;

[0086] Combining the reflection deviation and reflection fluctuation value of each array element, the reflection correction value of each array element is obtained, and the ground penetrating radar data received by each array element is corrected;

[0087] The target positioning module is used to locate the target based on the ground penetrating radar data after all array elements are calibrated.

[0088] Based on the same inventive concept as the above method, an embodiment of the present application also provides a target positioning system based on ground penetrating radar data, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of any one of the above-mentioned target positioning methods based on ground penetrating radar data are implemented.

[0089] In summary, the present application constructs a reflection intensity sequence based on the ground penetrating radar data received by a single array element, and obtains the reflection deviation, which reflects the situation that the narrowband signal reflected by a single array element is subject to environmental interference and energy diffusion when transmitted in the underground medium;

[0090] Furthermore, the reflection fluctuation value is obtained by using the difference between the ground penetrating radar data received by adjacent array elements, which reflects the deviation between the maximum reflection intensity value under the best direction angle received by the array element and the reflection intensity under the theoretical condition.

[0091] Furthermore, the reflection correction value is obtained based on the reflection deviation and reflection fluctuation value, and the ground penetrating radar data received by the array element is corrected. The spatial spectrum estimation algorithm is used to obtain the reverse projection positioning map of the underground target of the ground penetrating radar, which reduces the influence of the assumptions of underground medium uniformity and the consistency of underground target reflectivity direction on the actual DOA estimation in the traditional DOA estimation process. The analysis of the ground penetrating radar data received by the array element is used to correct the received signal of each array element, so that it can better meet the algorithm assumptions in the actual detection process and improve the positioning accuracy of the underground target.

[0092] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

[0093] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the basic features of the present application. Therefore, no matter from which point of view, the above embodiments of the present application should be regarded as exemplary and non-restrictive.

Claims

1. A target positioning method based on ground penetrating radar data, characterized in that: The method comprises the following steps: Acquire ground penetrating radar data received by each array element at multiple direction angles; Determine the reflection deviation of each array element based on the smoothness and sidelobe interference of the ground penetrating radar data received by each array element; The maximum value of the ground penetrating radar data received by each array element and the direction angle corresponding to the maximum value are combined into a binary group, and the reflection fluctuation value of each array element is determined based on the distribution of the binary groups of each array element and its adjacent array elements in two-dimensional space; Combining the reflection deviation and reflection fluctuation value of each array element, the reflection correction value of each array element is obtained, and the ground penetrating radar data received by each array element is corrected; Target positioning is performed based on the ground penetrating radar data after correction of all array elements; The binary group is: for each array element, the direction angle corresponding to the maximum value in the ground penetrating radar data received by the array element is recorded as the optimal direction angle, and the optimal direction angle and the ground penetrating radar data under the optimal direction angle form a binary group.

2. A target positioning method based on ground penetrating radar data as claimed in claim 1, characterized in that: The process of determining the reflection deviation is as follows: For each array element, the ground penetrating radar data received by the array element is organized into a reflection intensity sequence according to the size of the direction angle; Obtaining a fitting curve of the reflection intensity sequence of the array element, and calculating the fitting goodness of the fitting curve; Obtaining the difference between adjacent maximum values ​​and minimum values ​​on the fitting curve, combining all the differences on the fitting curve, and fusing the combination result with the number of extreme value points on the fitting curve; The reflection deviation of the array element is determined by combining the goodness of fit of the array element with the fusion result.

3. A target positioning method based on ground penetrating radar data as claimed in claim 2, characterized in that: The reflection deviation of the array element is the ratio of the goodness of fit of the array element to the fusion result.

4. A target positioning method based on ground penetrating radar data as claimed in claim 1, characterized in that: The process of determining the reflection fluctuation value is as follows: Obtain the connection line of the two-tuple of the adjacent previous and next array elements of any array element in the two-dimensional space; The distance from the binary group of any array element to the connecting line is taken as the reflection fluctuation value of any array element; When the binary group of any array element is located above the connecting line, the distance is negative, and when it is located below the connecting line, the distance is positive.

5. The target positioning method based on ground penetrating radar data according to claim 1, characterized in that: The determination process of the reflection correction value is as follows: The product of the reflection deviation and the reflection fluctuation value of each array element is calculated and recorded as the fluctuation product. The product of the normalized value of the fluctuation product and the preset parameter adjustment factor is used as the reflection correction value of each array element.

6. A target positioning method based on ground penetrating radar data as claimed in claim 1, characterized in that: The method for correcting the ground penetrating radar data received by each array element is: for each array element, multiplying the ground penetrating radar data received by the array element by the reflection correction value of the array element.

7. A target positioning method based on ground penetrating radar data as claimed in claim 1, characterized in that: The process of performing target positioning is: using the corrected ground penetrating radar data of all array elements as the input of the spatial spectrum estimation algorithm, and outputting the reverse projection positioning map of the ground penetrating radar data.

8. A target positioning method based on ground penetrating radar data as claimed in claim 7, characterized in that: After the reverse projection localization map is obtained, the points in the reverse projection localization map that are greater than a preset intensity threshold are retained, and the remaining points are removed.

9. A target positioning device based on ground penetrating radar data, implementing the method as claimed in claim 1, characterized in that: The device comprises: A ground penetrating radar data acquisition module is used to obtain ground penetrating radar data at multiple directional angles received by each array element; A ground penetrating radar data correction module, used to determine the reflection deviation of each array element based on the fluctuation of the ground penetrating radar data received by each array element; The maximum value of the ground penetrating radar data received by each array element and the direction angle corresponding to the maximum value are combined into a binary group, and the reflection fluctuation value of each array element is determined based on the distribution of the binary groups of each array element and its adjacent array elements in two-dimensional space; Combining the reflection deviation and reflection fluctuation value of each array element, the reflection correction value of each array element is obtained, and the ground penetrating radar data received by each array element is corrected; The target positioning module is used to locate the target based on the ground penetrating radar data after all array elements are calibrated.

10. A target positioning system based on ground penetrating radar data, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of a target positioning method based on ground penetrating radar data as described in any one of claims 1 to 8 are implemented.

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