A method, storage medium and device for water depth detection using UAV ground penetrating radar

Abstract

The present invention discloses a method, storage medium, and device for water depth detection using an unmanned aerial vehicle (UAV) ground-penetrating radar (GPR), which relates to the field of water depth detection technology. The method comprises: obtaining B-Scan GPR data collected on the track of an airborne GPR and performing preprocessing; filtering the preprocessed GPR data using a singular value decomposition technique to obtain filtered GPR data; applying a constant proportional gain technique to perform signal intensity and contrast enhancement processing on the filtered GPR data to obtain enhanced GPR data; calculating the water depth at each location on the track based on the enhanced GPR data, and visualizing the distance the airborne GPR moves above the water surface, the water depth at each location, and the amplitude information of the enhanced GPR data. The method of the present invention not only greatly simplifies operation and reduces costs, but also enables flexible operation in complex and dangerous water environments, greatly improving the safety and flexibility of operations.

Description

Technical Field

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

[0002] With continued population growth and climate change, water scarcity is becoming increasingly severe. Accurately measuring water depth plays a vital role in monitoring water quantity and managing water resources in lakes, rivers, and reservoirs. Accurate water depth information not only helps assess water availability and quality but also provides a reference for flood forecasting. Therefore, accurate water depth measurement is crucial for the effective management and utilization of water resources.

[0003] Currently, satellite remote sensing, airborne LiDAR (Light Detection and Ranging), and sonar are all remote sensing methods that can be used for water depth assessment. However, the problem is that data processing often involves relatively complex algorithms and models, making intuitive data interpretation difficult. In addition, satellite remote sensing is limited to shallow waters; measurement accuracy is significantly reduced in deep waters, and spectral remote sensing is susceptible to environmental factors in the water. Typically, suspended matter, turbidity, and lighting conditions all affect detection and assessment results. Therefore, it is only suitable for clear water bodies, limiting its application scenarios. In navigable rivers, river depth is typically measured using single-beam or multi-beam sonar from manned or unmanned vessels. However, due to surface clutter and multipath effects, sonar systems have limitations when measuring very shallow depths (e.g., 2 meters), especially at the most commonly used frequencies (less than 1 MHz). In shallow waters, traditional river depth measurement methods typically use RTK (Real-time Kinematic) and GNSS (Global Navigation Satellite System) to conduct 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 limited application scenarios of water bodies in remote sensing detection, complex data processing and difficult analysis, and to propose a method for water depth detection 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. Filtering the pre-processed GPR data using a singular value decomposition technique to obtain filtered GPR 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 of 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 coordinate of the extracted water surface reflection sub-wave, and calibrate it as the starting moment of the ground penetrating radar system transmitting signal, performing zero-time alignment 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 trace of the 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 pre-processed ground penetrating radar data as follows:

[0022] The matrix of the pre-processed GPR data is decomposed into the product of three matrices using the singular value decomposition technique: 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 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] Where D1 represents the enhanced GPR data, D represents the filtered GPR 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 time of the water bottom reflection wave in the enhanced ground penetrating radar data:

[0029]

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

[0031] A coordinate system is established with the flight distance of the airborne ground penetrating radar above the water surface as the x-axis and the depth information from the water surface to the bottom 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, it implements the above-mentioned UAV ground-penetrating radar water depth detection method.

[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 about 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 utilize singular value decomposition technology to filter the data, reduce noise, improve the signal-to-noise ratio of the signal, and significantly improve the data resolution capability. The constant proportional gain technology is applied to enhance the signal strength and contrast of the data, and the data is made easier to interpret and analyze through adjustment, thereby enhancing the visual display effect. Combining positioning technology and data processing algorithms, a fast 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 This is a flow chart of a method for water depth detection using 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 This is a flight line indication diagram of the UAV according to an embodiment of the present invention;

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

[0040] Figure 5 is the ground penetrating radar data processed according to 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 present invention incorporates a ground-penetrating radar (GPR) system onto an unmanned aerial vehicle (UAV). This design eliminates the need for contact with water and effectively resists interference from aquatic environmental factors, enabling rapid and efficient detection of water bodies and underwater structures. The detection system primarily consists of a GPR host, transmitting and receiving antennas, a positioning module, and a remote control unit. The host utilizes a time-pulsed GPR transceiver system, allowing for selection of appropriate center frequency devices based on different detection depth and resolution requirements. The transmitting and receiving antennas are dipole antennas, a design widely used for its simple structure and efficient radiation characteristics. A dipole antenna consists of two metal rods, typically with an antenna length approximately equal to half the wavelength of the corresponding center frequency. The center of the antenna is connected to the GPR transceiver system via a feeder cable. The GPR system incorporates a built-in DGPS (Differential Global Positioning System), providing a horizontal positioning accuracy of ±1–2 meters. By combining a UAV with a GPR, the detection method proposed in this invention enables efficient and rapid measurement of water depth without contact with the water surface.

[0044] The water depth detection method based on the ground-penetrating radar of the embodiment of the present invention can detect the water depth at a distance of more than 0.5m from the water surface. The principle of detecting the 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, the water depth is detected. (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, when electromagnetic waves encounter boundaries where the medium changes during propagation, reflection and transmission occur. In this scenario, when electromagnetic waves propagate from the air to the water surface, and from the water to the sediment at the bottom, a portion of the electromagnetic waves will be reflected back. These electromagnetic waves reflected from multiple interfaces are captured by the ground-penetrating radar receiving antenna mounted on the drone. By extracting the electromagnetic waves reflected from the bottom, analyzing the time delay between these wavelets and the transmitted electromagnetic wave, and subtracting the propagation time in air, the round-trip travel time of the electromagnetic waves in the water can be calculated, and the water depth can be calculated. The center frequency of the drone-mounted ground-penetrating radar system depends on the depth of the water being measured. Generally speaking, lower frequencies increase the detection depth, but at the same time reduce spatial resolution. In the actual application of the drone-mounted ground-penetrating radar system, the drone's flight path is pre-set by a path planning system, ensuring that the drone can autonomously fly with the ground-penetrating radar and perform large-scale, efficient water detection missions.

[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 the embodiment of the present invention Figure 2 The drone, equipped with a ground-penetrating radar, conducts detection along a flight line pre-set by a path planning system. In this embodiment of the present invention, the airborne ground-penetrating radar collects A-scan data at a fixed height above the water surface along the pre-set flight line (a single line). This continuously collected A-scan data is used to generate B-scan ground-penetrating radar data for the pre-set flight line.

[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: The UAV ground-penetrating radar collects data at a known height above the water surface and extracts the water-reflected wavelet. ② By extracting the time coordinates of the water-reflected wavelet, the zero-time position (phase point) of the GPR transmission wavelet is back-calculated and determined, and this is calibrated as the start time of the GPR system's transmission signal. ③ Based on these results, all data are temporally re-aligned to zero time. This step aims to eliminate zero-time offsets caused by the spacing between the transmitting and receiving antennas or errors in the initial data collection setup, 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 the 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 by the window function.

[0054] Background noise usually includes interference caused by electronic devices such as unmanned aerial vehicles and ground penetrating radar systems, external environmental factors, and inevitable technical limitations during the data acquisition process. These noises can 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 propagation, enhance the amplitude of the reflection signal from a farther distance, and improve the recognition degree and image clarity of long-distance reflections. The specific operation is as follows: introduce the 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 expected maximum water depth 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, enhancing the effect of visual display. 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 GPR data, and visualize the movement distance of the airborne GPR above the water surface, the water depth at each location, and the amplitude information of the enhanced GPR data.

[0066] The water depth is calculated based on the time it takes to transmit electromagnetic waves from the enhanced ground penetrating radar data, the time it takes to receive the reflected wave from the water surface, and the time it takes to receive the reflected wave from the bottom of the water:

[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] A coordinate system is established using the flight distance of the airborne ground-penetrating radar above the water surface as the x-axis and the depth information from the water surface to the bottom as the y-axis. This allows the depth of the bottom reflection wave to directly represent the actual depth of the water body. The amplitude information of the enhanced ground-penetrating radar data is then plotted within the coordinate system. This visualization process improves the intuitiveness of the data and clearly displays the changing trends of the water depth and the bottom of the water body.

[0070] In the embodiment of the present invention, the water body information data of a certain reservoir is as follows Figure 3 As shown, Figure 3 It is the flight line indicator 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 drone's flight path, which is the horizontal position corresponding to the water depth data collected.

[0071] Figure 4 In this raw data collected by a UAV ground-penetrating radar system, it can be seen that direct waves primarily occur in the time range of 20–40 ns. Due to the high intensity of direct waves, surface reflections and weak bottom reflection wavelets are essentially unrecognizable. To address this issue, the data processing method proposed in this paper was employed.

[0072] Figure 5This is ground-penetrating radar data processed using the method of this invention. Direct waves and background clutter are effectively removed, and the processed data clearly displays reflection signals from the water surface and bottom. The depth corresponding to the surface reflection wave is set to 0m, while the depth corresponding to the bottom reflection wave directly represents the actual depth of the water body. Furthermore, the change in bottom depth is consistent with the trend of water depth from shallow to deep as the drone flies from the edge of the reservoir to the center. This data processing method significantly improves the application effectiveness of ground-penetrating radar systems in water exploration. It not only accurately extracts electromagnetic wave reflection signals from the water surface and bottom, but also estimates water depth, providing detailed and reliable data support for hydrological research.

[0073] Figure 4 、 5 The amplitude reflects the strength of the electromagnetic wave reflection signal received by the ground penetrating radar, specifically the energy intensity of the electromagnetic wave reflected from the underground or underwater medium back to the receiver. When an electromagnetic wave travels from one medium to another 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 is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one 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 is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for water depth detection using a UAV ground penetrating radar, 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. Filtering the preprocessed GPR data using a singular value decomposition technique to obtain filtered GPR 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 GPR data, and visualize the movement distance of the airborne GPR above the water surface, the water depth at each location, and the amplitude information of the enhanced GPR data.

2. The method for water depth detection using a UAV ground penetrating radar 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: Data from the UAV ground-penetrating radar is collected at a known height above the water surface, and the water surface reflection wavelet is extracted. The zero time position of the ground-penetrating radar emission wavelet is back-calculated using the time coordinate of the extracted water surface reflection wavelet, and it is calibrated as the starting time of the ground-penetrating radar system's signal transmission, thus returning all ground-penetrating radar data to zero time in time.

3. The method for water depth detection using a UAV ground penetrating radar 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 UAV ground penetrating radar according to claim 2, characterized in that: Background noise removal is specifically 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 can be 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 pre-processed ground penetrating radar data as follows: The matrix of the pre-processed GPR data is decomposed into the product of three matrices using the singular value decomposition technique: 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 GPR 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 UAV ground penetrating radar according to claim 1, characterized in that: The constant proportional gain technique is used to enhance the signal strength and contrast of the filtered GPR data. Specifically: Max=max[abs(D)] Where D1 represents the enhanced GPR data, D represents the filtered GPR data, and gain represents the gain.

8. The method for water depth detection using a UAV ground penetrating radar 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 time of the water bottom reflection wave in the enhanced ground penetrating radar data: Where h represents the water depth, t0 represents the average time from the ground penetrating radar transmitting the electromagnetic wave to receiving the reflected wave from the water surface, t represents the time from the ground penetrating radar transmitting the electromagnetic wave to receiving the reflected wave from the bottom of the water, and v represents the propagation speed of the electromagnetic wave in water; A coordinate system is established with the flight distance of the airborne ground penetrating radar above the water surface as the x-axis and the depth information from the water surface to the bottom 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 includes 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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