Unmanned aerial vehicle ground penetrating radar water depth detection method, storage medium and equipment

Abstract

The invention discloses an unmanned aerial vehicle ground penetrating radar water depth detection method, a storage medium and equipment, and relates to the technical field of water depth detection, and the method comprises the steps: obtaining B-Scan ground penetrating radar data collected on an airborne ground penetrating radar track, and carrying out the preprocessing; performing filtering processing on the preprocessed ground penetrating radar data by using a singular value decomposition technology to obtain filtered ground penetrating radar data; performing signal intensity and contrast enhancement processing on the filtered ground penetrating radar data by applying a constant proportional gain technology to obtain enhanced ground penetrating radar data; and calculating the water depth of each position on the track according to the enhanced ground penetrating radar data, and visualizing the moving distance of the airborne ground penetrating radar above the water surface, the water depth of each position and the amplitude information of the enhanced ground penetrating radar data. According to the method, the operation is greatly simplified, the cost is reduced, flexible operation can be carried out in a complex and dangerous water area environment, and the safety and flexibility of operation are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of water depth detection, and in particular to a method, storage medium and equipment for water depth detection by an unmanned aerial vehicle ground penetrating radar. Background Art

[0002] With the continuous growth of population and the intensification of climate change, the problem of water shortage is becoming increasingly serious. Accurate measurement of water depth plays an important role in water quantity monitoring and water resource management in lakes, rivers and reservoirs. Accurate water depth information not only helps to assess the availability and quality of water resources, but also provides a reference for flood forecasting. Therefore, accurate water depth measurement is particularly important for the effective management and utilization of water resources.

[0003] Currently, satellite remote sensing, airborne laser radar (LiDAR) and sonar are all remote sensing detection methods that can be used for water depth assessment. However, the problem is that data processing often involves more complex algorithms and models, making intuitive data analysis difficult. In addition, satellite remote sensing is limited to shallow water areas, and the measurement accuracy in deep water areas will be significantly reduced, and the spectral remote sensing is easily affected by water environmental factors; typically, suspended matter, water turbidity and light conditions all affect the results of detection and assessment, so it is only suitable for water bodies with clear water quality, and the application scenarios are limited. In navigable rivers, river depth is usually measured using single-beam or multi-beam sonar on manned or unmanned ships. However, due to surface clutter and multipath effects, sonar systems have limitations when measuring very shallow depths (such as 2m), especially for the most commonly used frequencies (less than 1MHz). In shallow waters, traditional river depth measurement methods usually use RTK (Real-time kinematic) and GNSS (Global Navigation Satellite System) to perform cross-sectional measurements at specific locations along the river. This method is not only time-consuming and labor-intensive, but also very costly for large-scale depth measurements. Summary of the invention

[0004] The purpose of the present invention is to solve the problems of water body application scenario limitation, complex data processing and difficult analysis in remote sensing detection, and propose a water depth detection method using a ground penetrating radar using an unmanned aerial vehicle, comprising the following steps:

[0005] S1, acquiring B-Scan ground penetrating radar data collected on the airborne ground penetrating radar track, and preprocessing the collected ground penetrating radar data to obtain preprocessed ground penetrating radar data;

[0006] S2, using singular value decomposition technology to filter the preprocessed ground penetrating radar data to obtain filtered ground penetrating radar data;

[0007] S3. Apply the constant ratio gain technique to enhance the signal intensity and contrast of the filtered ground penetrating radar data, obtaining the enhanced ground penetrating radar data;

[0008] S4. Calculate the water depth at each position on the track based on the enhanced ground penetrating radar data, and visualize the moving distance of the airborne ground penetrating radar above the water surface, the water depth at each position, and the amplitude information of the enhanced ground penetrating radar data.

[0009] Furthermore, the preprocessing of the collected ground penetrating radar data includes: zero-time correction, direct wave removal, background noise removal, and gain compensation;

[0010] The zero-time correction is specifically as follows:

[0011] Collect data with the unmanned aerial vehicle ground penetrating radar at a known height above the water surface, extract the water surface reflection sub-wave, back-calculate the zero-time position of the ground penetrating radar transmitting sub-wave through the time coordinates of the extracted water surface reflection sub-wave, and calibrate it as the starting time of the ground penetrating radar system transmitting signal, performing zero-time homing in time for all ground penetrating radar data.

[0012] Furthermore,

[0013] Use the Tukey window function to remove the direct wave. The Tukey window function is expressed as:

[0014]

[0015] where w(n) is the mathematical expression of the Tukey window function, n represents the length of the window function, and r represents the value determining the behavior of the Tukey window.

[0016] Furthermore, the background noise removal is specifically as follows:

[0017] Subtract the average value of the ground penetrating radar data from each A-scan data of the collected ground penetrating radar data;

[0018] Furthermore, introduce a gain function to set different gain coefficients in a certain depth interval for gain compensation, expressed as:

[0019]

[0020] where g(d) represents the gain function, d represents the detection range of the signal, d0 represents the initial depth at which the signal in the detection range is amplified, d1 represents the maximum detection depth, represents the gain compensation value when d < d0, d a represents the gain compensation value when d0 ≤ d ≤ d1, represents the gain compensation value when d > d1, and a represents the gain coefficient.

[0021] Furthermore, the singular value decomposition technique is used to filter the preprocessed ground penetrating radar data as follows:

[0022] The matrix of preprocessed GPR data is decomposed into the product of three matrices using singular value decomposition technology: B = USV T , where B represents the matrix of preprocessed GPR data, U and V are orthogonal matrices of order m×m and n×n respectively, where U contains left singular vectors, V contains right singular vectors, and S is a diagonal matrix. Among them, σ 11 ≥σ 22 ≥...≥σ nn ≥0, p=min(m,n), set the three largest diagonal elements in the matrix S to zero, and get S1. The filtered ground penetrating radar data is expressed as: B1=US1V T , where B1 represents the matrix of filtered GPR data.

[0023] Furthermore, the constant proportional gain technique is applied to enhance the signal strength and contrast of the filtered GPR data, specifically:

[0024]

[0025] Max=max[abs(D)]

[0026] Among them, D1 represents the enhanced ground penetrating radar data, D represents the filtered ground penetrating radar data, and gain represents the gain.

[0027] Furthermore, S4 is specifically:

[0028] The water depth is calculated based on the time of the water surface reflection wave and the water bottom reflection wave in the enhanced GPR data:

[0029]

[0030] Wherein, h represents the water depth, t0 represents the average time from the ground penetrating radar transmitting electromagnetic waves to receiving the reflected waves from the water surface, t represents the time from the ground penetrating radar transmitting electromagnetic waves to receiving the reflected waves from the bottom of the water, and v represents the propagation speed of electromagnetic waves in water;

[0031] A coordinate system is established with the flight distance of the airborne ground penetrating radar moving above the water surface as the x-axis and the depth information from the water surface to the bottom of the water as the y-axis, and the amplitude information of the enhanced ground penetrating radar data is plotted in the coordinate system.

[0032] The present invention also proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned unmanned aerial vehicle ground penetrating radar water depth detection method is implemented.

[0033] The present invention also proposes an electronic device, including a processor and a memory, wherein the processor and the memory are interconnected, wherein the memory is used to store a computer program, the computer program includes computer-readable instructions, and the processor is configured to call the computer-readable instructions to execute the above-mentioned unmanned aerial vehicle ground penetrating radar water depth detection method.

[0034] The beneficial effects brought by the technical solution provided by the present invention are:

[0035] The present invention proposes to use a ground-penetrating radar system mounted on an unmanned aerial vehicle, and use singular value decomposition technology to filter the data, reduce noise, improve the signal-to-noise ratio of the signal, and significantly improve the data analysis capability. The constant proportional gain technology is used to enhance the signal strength and contrast of the data. The data is adjusted to make it easier to interpret and analyze, thereby enhancing the visual display effect. Combining positioning technology and data processing algorithms, rapid and efficient water depth assessment is achieved. The method of the present invention not only greatly simplifies operation and reduces costs, but also can operate flexibly in complex and dangerous water environments, greatly improving the safety and flexibility of operations. The proposed method is not only applicable to conventional waters, but can also be used for rapid flood assessment in emergency situations, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a flow chart of a method for water depth detection by a UAV ground penetrating radar according to an embodiment of the present invention;

[0037] Figure 2 is a schematic diagram of a water depth detection method according to an embodiment of the present invention;

[0038] Figure 3 It is a flight line indication diagram of the unmanned aerial vehicle according to an embodiment of the present invention;

[0039] Figure 4 is the original data collected by the UAV ground penetrating radar system of the embodiment of the present invention;

[0040] Figure 5 is the ground penetrating radar data processed by the method of the embodiment of the present invention;

[0041] Figure 6 It is a block diagram of an electronic device in an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0042] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0043] The method of the embodiment of the present invention carries the ground penetrating radar system on the unmanned aerial vehicle. This design makes the ground penetrating radar not need to contact the water body, and can effectively resist the interference of water environment factors, so as to realize fast and efficient detection of water bodies and underwater structures. The detection system is mainly composed of a ground penetrating radar host, a transmitting antenna and a receiving antenna, a positioning module and a remote control unit. The host adopts a time pulse ground penetrating radar transceiver system, and the corresponding center frequency device can be selected according to different detection depths and resolution requirements. The transmitting antenna and the receiving antenna are dipole antennas, which are widely used due to their simple structure and efficient radiation characteristics. The dipole antenna consists of two metal rods, and the antenna length is usually close to the half wavelength of the corresponding center frequency. The middle position of the antenna is connected to the ground penetrating radar transceiver system through a feeder. The ground penetrating radar system has a built-in DGPS (Differential Global Positioning System), which can provide a horizontal positioning accuracy of ±1-2m. By combining the unmanned aerial vehicle with the ground penetrating radar, the detection method proposed by the present invention can effectively and quickly measure the depth of the water body without contacting the water surface.

[0044] The ground-penetrating radar water depth detection method based on a drone in the embodiment of the present invention can detect water depth at a distance of more than 0.5m from the water surface. The principle of detecting water depth is based on the propagation characteristics of electromagnetic waves. When the transmitting antenna of the ground-penetrating radar transmits electromagnetic waves to the water body, the electromagnetic waves penetrate the water surface from the air and propagate downward at a specific speed in the water. According to the electromagnetic wave speed calculation formula in the medium, (c is the speed of electromagnetic waves in vacuum, c = 3×10 8 m / s; ε r,水 is the relative dielectric constant of water, ε r,水 =81), affected by the dielectric constant, the propagation speed of electromagnetic waves after entering water is 0.33×10 8m / s. According to electromagnetic propagation theory, reflection and transmission phenomena occur when electromagnetic waves encounter a boundary where the medium changes during propagation. In this scenario, when electromagnetic waves propagate from the air to the water surface, and from the water body to the bottom sediment, a part of the electromagnetic waves will be reflected back. These electromagnetic waves reflected back through multiple interfaces are captured by the ground-penetrating radar receiving antenna installed on the drone. By extracting the electromagnetic waves reflected from the bottom of the water, analyzing the time delay between these sub-waves and the transmitted electromagnetic waves, and subtracting their propagation time in the air, the two-way travel time of the electromagnetic waves in the water body can be obtained, and then the depth of the water can be calculated. The selection of the center frequency of the ground-penetrating radar system carried by the drone depends on the depth of the water body to be measured. Generally speaking, a lower frequency can increase the detection depth, but at the same time it will reduce the spatial resolution. In the actual application of the drone ground-penetrating radar system, the flight path of the drone will be pre-set by the path planning system to ensure that the drone can carry the ground-penetrating radar to fly autonomously and perform large-scale and efficient water body detection tasks.

[0045] The flowchart of the water depth detection method of the UAV ground penetrating radar according to the embodiment of the present invention is as follows: Figure 1 , specifically including the following steps:

[0046] S1. Acquire B-Scan ground penetrating radar data collected on the airborne ground penetrating radar track, and preprocess the collected ground penetrating radar data to obtain preprocessed ground penetrating radar data.

[0047] Schematic diagram of the water depth detection method according to an embodiment of the present invention Figure 2 The UAV carries a ground-penetrating radar to detect along the flight line pre-set by the path planning system. In the embodiment of the present invention, the airborne ground-penetrating radar collects A-scan data at a fixed height above the water surface along the set flight line (single line), and obtains B-scan ground-penetrating radar data of the set flight line through these continuously collected A-scan data.

[0048] The preprocessing of the collected ground penetrating radar data includes: zero-time correction, direct wave removal, background noise removal, and gain compensation.

[0049] The specific zero time correction is:

[0050] ① Conduct a calibration experiment: collect data from the UAV ground penetrating radar at a known height above the water surface and extract the water surface reflection wavelet; ② By extracting the time coordinates of the water surface reflection wavelet, push back and determine the zero time position (phase point) of the ground penetrating radar transmission wavelet, and calibrate it as the starting time of the ground penetrating radar system transmission signal; ③ Based on the above results, all data are reset to zero time in time. This step is to eliminate the zero time offset caused by the spacing of the transmitting and receiving antennas or the initial setting error during data collection, thereby improving the accuracy of data processing and interpretation.

[0051] In ground penetrating radar data processing, the direct wave usually appears as the strongest signal, which may mask deeper structural features. To effectively reduce the impact of the direct wave and clearly display the deep reflection signal, the embodiment of the present invention uses a Tukey window function for filtering. The Tukey window is a superposition of a rectangular window and a cosine window, and the proportion of the cosine part in the window is controlled by the parameter r. The Tukey window function is expressed as:

[0052]

[0053] where w(n) represents the mathematical expression of the Tukey window function, n represents the length of the window function, and r represents the value that determines the behavior of the Tukey window. When r = 0, the Tukey window degenerates into a rectangular window, that is, all values in the window are 1; when r = 1, it completely becomes a cosine window, and the window shows a continuous cosine change; when 0 < r < 1, the window shows smooth undulations in the shape of a cosine at both ends, while the middle part remains 1. Using the Tukey window function to filter the ground penetrating radar data can effectively suppress the direct wave while retaining the data integrity. This method helps to reduce interference and enhance the visualization effect of underground or underwater structures by multiplying the ground penetrating radar data with the window function.

[0054] Background noise usually includes interference caused by electronic devices such as drones and ground penetrating radar systems, external environmental factors, and inevitable technical limitations during the data acquisition process. These noises will mask or distort the true reflection signal of the underwater structure, thereby reducing the accuracy of data interpretation. The background noise removal in the embodiment of the present invention is specifically as follows: subtract the average value of the ground penetrating radar data from each A-scan data of the collected ground penetrating radar data. The average value of the ground penetrating radar data is the sum of all A-scan data of all channels divided by the number of channels. This is used to weaken the background noise and highlight the characteristics of useful signals.

[0055] Gain compensation is used to compensate for the energy attenuation of the signal caused by geometric diffusion and medium loss during the propagation process, enhance the amplitude of the reflection signal from a farther distance, and improve the recognition degree and image clarity of the long-distance reflection. The specific operation is as follows: introduce a gain function g(d) (where d represents the detection range of the signal), and set different gain coefficients in a certain depth interval to increase the amplitude of the electromagnetic wave reflection sub-wave in the target area. The gain function g(d) is expressed as:

[0056]

[0057] Among them, g(d) represents the gain function, d represents the detection range of the signal, d0 represents the initial depth at which the signal within the detection range is amplified, and this depth depends on the actual measurement environment, such as the flight altitude of an airborne ground penetrating radar; d1 represents the maximum detection depth, which is determined according to the maximum water depth expected to be detected. represents the gain compensation value when d < d0, d a represents the gain compensation value when d0 ≤ d ≤ d1, represents the gain compensation value when d > d1. The gain coefficient a is generally set to 4, which is used to adjust the amplitude of the gain function, so as to ensure the effective enhancement of the signal throughout the detection depth.

[0058] S2. Use the singular value decomposition technique to filter the preprocessed ground penetrating radar data, which can reduce noise, improve the signal-to-noise ratio of the signal, significantly improve the data analysis ability, and obtain the filtered ground penetrating radar data.

[0059] Decompose the matrix of the preprocessed ground penetrating radar data into the product of three matrices through the singular value decomposition technique: B = USV T where B represents the matrix of the preprocessed ground penetrating radar data, U and V are orthogonal matrices of order m×m and n×n respectively, where U contains left singular vectors, V contains right singular vectors, and S is a diagonal matrix. where, σ 11 ≥ σ 22 ≥... ≥ σ nn ≥ 0, p = min(m, n). Set the three largest diagonal elements in matrix S to zero to obtain S1. The filtered ground penetrating radar data is expressed as: B1 = US1V T where B1 represents the matrix of the filtered ground penetrating radar data.

[0060] S3. Apply the constant ratio gain technique to enhance the signal intensity and contrast of the filtered ground penetrating radar data. The constant ratio gain is particularly suitable for strengthening the reflection signals in specific depth regions, such as the echoes of the water surface or the bottom of the water. By adjustment, the data is made easier to interpret and analyze, and the visual display effect is enhanced. Obtain the enhanced ground penetrating radar data.

[0061] Specifically:

[0062]

[0063] Max = max[abs(D)]

[0064] where D1 represents the enhanced ground penetrating radar data, D represents the filtered ground penetrating radar data, and gain represents the gain.

[0065] S4. Calculate the water depth at each location on the track based on the enhanced ground penetrating radar data, and visualize the moving distance of the airborne ground penetrating radar above the water surface, the water depth at each location, and the amplitude information of the enhanced ground penetrating radar data.

[0066] The water depth is calculated based on the transmitted electromagnetic waves of the enhanced ground penetrating radar data, the time when the reflected waves from the water surface are received, and the time when the reflected waves from the water bottom are received:

[0067]

[0068] Among them, h represents the water depth, t0 represents the average time from the ground penetrating radar transmitting electromagnetic waves to receiving the reflected waves from the water surface, t represents the time from the ground penetrating radar transmitting electromagnetic waves to receiving the reflected waves from the bottom of the water, and v represents the propagation speed of electromagnetic waves in water.

[0069] The flight distance of the airborne ground-penetrating radar moving above the water surface is used as the x-axis, and the depth information from the water surface to the bottom of the water is used as the y-axis to establish a coordinate system, so that the depth of the bottom reflection wave directly represents the actual depth of the water body, and the amplitude information of the enhanced ground-penetrating radar data is plotted in the coordinate system. Through this visualization processing, the intuitiveness of the data can be improved, the processed data can be visualized, and the changing trend of the water depth and the bottom of the water body can be clearly displayed.

[0070] In the embodiment of the present invention, water body information data of a reservoir is as follows Figure 3 As shown, Figure 3 It is the flight survey line indication map of the UAV. In the specific operation, first use the UAV equipped with the ground penetrating radar system to follow Figure 3 The planned flight line in the figure is used to collect data from the edge of the reservoir to the center of the reservoir. The line in the figure represents the flight trajectory of the drone, that is, the horizontal position corresponding to the water depth data collected.

[0071] Figure 4 The raw data collected by the UAV ground penetrating radar system shows that the direct wave mainly appears in the time range of 20-40ns. Due to the large intensity of the direct wave, the water surface reflection wave and the weak bottom reflection wavelet are basically indistinguishable. In order to solve this problem, the data processing method proposed in the present invention is adopted.

[0072] Figure 5The ground penetrating radar data processed by the method of the present invention, the direct wave and background clutter are effectively removed, and the processed data clearly shows the reflection signals from the surface and bottom of the water body. The depth corresponding to the water surface reflection wave is set to 0m, and the depth corresponding to the bottom reflection wave directly represents the actual depth of the water body. In addition, the change in the bottom depth is consistent with the change trend of the water depth from shallow to deep from the edge of the reservoir to the center of the reservoir when the drone flies. This data processing method significantly improves the application effect of the ground penetrating radar system in water body detection. It can not only accurately extract the electromagnetic wave reflection signals of the water surface and the bottom, but also estimate the depth of the water body, providing detailed and reliable data support for hydrological research.

[0073] Figure 4 , 5 The amplitude reflects the intensity of the electromagnetic wave reflection signal received by the ground penetrating radar, specifically reflecting the energy intensity of the electromagnetic wave reflected from the underground or underwater medium back to the receiver. When an electromagnetic wave is transmitted from one medium to another medium with significantly different electrical properties, reflection occurs at the interface.

[0074] In an exemplary embodiment, a computer-readable storage medium is included, which stores a computer program. When the computer program is executed by a processor, the above-mentioned UAV ground-penetrating radar water depth detection method is implemented.

[0075] See also Figure 6 In an exemplary embodiment, an electronic device is also included, including at least one processor, at least one memory, and at least one communication bus.

[0076] Among them, a computer program is stored in the memory, and the computer program includes computer-readable instructions. The processor calls the computer-readable instructions stored in the memory through the communication bus to execute the above-mentioned UAV ground-penetrating radar water depth detection method.

[0077] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for water depth detection using a ground penetrating radar using an unmanned aerial vehicle, characterized in that: The following steps are involved: S1, acquiring B-Scan ground penetrating radar data collected on the airborne ground penetrating radar track, and preprocessing the collected ground penetrating radar data to obtain preprocessed ground penetrating radar data; S2, using singular value decomposition technology to filter the preprocessed ground penetrating radar data to obtain filtered ground penetrating radar data; S3, applying a constant proportional gain technique to perform signal intensity and contrast enhancement processing on the filtered ground penetrating radar data to obtain enhanced ground penetrating radar data; S4. Calculate the water depth at each location on the track based on the enhanced ground penetrating radar data, and visualize the moving distance of the airborne ground penetrating radar above the water surface, the water depth at each location, and the amplitude information of the enhanced ground penetrating radar data.

2. The method for water depth detection using a ground penetrating radar using an unmanned aerial vehicle according to claim 1, characterized in that: The preprocessing of the collected ground penetrating radar data includes: zero-time correction, direct wave removal, background noise removal, and gain compensation; The specific zero time correction is: The UAV ground penetrating radar collects data at a known height from the water surface, and extracts the water surface reflection wavelet. The zero time position of the ground penetrating radar emission wavelet is back-calculated through the time coordinate of the extracted water surface reflection wavelet, and it is calibrated as the starting time of the ground penetrating radar system emission signal, and all ground penetrating radar data are reset to zero time in time.

3. The method for water depth detection using a ground penetrating radar using an unmanned aerial vehicle according to claim 2, characterized in that: The Tukey window function is used to remove direct waves. The Tukey window function is expressed as: Where w(n) is the mathematical expression of the Tukey window function, n represents the length of the window function, and r represents the value that determines the behavior of the Tukey window.

4. The method for water depth detection using a ground penetrating radar using an unmanned aerial vehicle according to claim 2, characterized in that: Background noise removal is as follows: The average value of the ground penetrating radar data is subtracted from each A-scan data of the collected ground penetrating radar data.

5. The method for water depth detection using a UAV ground penetrating radar according to claim 2, characterized in that: The gain function is introduced to set different gain coefficients in a certain depth range for gain compensation, which is expressed as: Among them, g(d) represents the gain function, d represents the detection range of the signal, d0 represents the initial depth at which the signal within the detection range is amplified, and d1 represents the maximum detection depth. represents the gain compensation value when d < d0, d a represents the gain compensation value when d0 ≤ d ≤ d1, represents the gain compensation value when d > d1, and a represents the gain coefficient.

6. The method for water depth detection using a UAV ground penetrating radar according to claim 1, characterized in that: The singular value decomposition technique is used to filter the preprocessed ground penetrating radar data as follows: The matrix of preprocessed GPR data is decomposed into the product of three matrices using singular value decomposition technology: B = USV T , where B represents the matrix of preprocessed GPR data, U and V are orthogonal matrices of order m×m and n×n respectively, where U contains left singular vectors, V contains right singular vectors, and S is a diagonal matrix. Among them, σ 11 ≥σ 22 ≥...≥σ nn ≥0, p=min(m,n), set the three largest diagonal elements in the matrix S to zero, and get S1. The filtered ground penetrating radar data is expressed as: B1=US1V T , where B1 represents the matrix of filtered GPR data.

7. The method for water depth detection using a ground penetrating radar using an unmanned aerial vehicle according to claim 1, characterized in that: The constant proportional gain technique is used to enhance the signal strength and contrast of the filtered ground penetrating radar data. Specifically: Max=max[abs(D)] Among them, D1 represents the enhanced ground penetrating radar data, D represents the filtered ground penetrating radar data, and gain represents the gain.

8. The method for water depth detection using a ground penetrating radar using an unmanned aerial vehicle according to claim 1, characterized in that: S4 is specifically: The water depth is calculated based on the time of the water surface reflection wave and the water bottom reflection wave in the enhanced GPR data: Wherein, h represents the water depth, t0 represents the average time from the ground penetrating radar transmitting electromagnetic waves to receiving the reflected waves from the water surface, t represents the time from the ground penetrating radar transmitting electromagnetic waves to receiving the reflected waves from the bottom of the water, and v represents the propagation speed of electromagnetic waves in water; A coordinate system is established with the flight distance of the airborne ground penetrating radar moving above the water surface as the x-axis and the depth information from the water surface to the bottom of the water as the y-axis, and the amplitude information of the enhanced ground penetrating radar data is plotted in the coordinate system.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

10. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the processor and the memory are interconnected, wherein the memory is used to store a computer program, the computer program comprises computer-readable instructions, and the processor is configured to call the computer-readable instructions to execute the method according to any one of claims 1 to 8.

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