Ground penetrating radar trajectory positioning method, device and storage medium

Abstract

The present invention discloses a track positioning method, device and storage medium of a ground penetrating radar, wherein the method comprises: obtaining initial track point data of the ground penetrating radar; collecting the deflection angle and number of rotations of the wheels of the ground penetrating radar when it moves; confirming the track point data of the ground penetrating radar based on the deflection angle and the number of rotations; generating the track data of the ground penetrating radar according to the initial track point data and the track point data of the ground penetrating radar. The present invention obtains the initial track point data of the ground penetrating radar before the ground penetrating radar enters an area where the GPS positioning system cannot accurately obtain a positioning signal, and then collects the deflection angle and number of rotations of the wheels of the ground penetrating radar during movement, calculates the forward direction and forward distance of the ground penetrating radar compared to the initial track point data using the deflection angle and the number of rotations, and generates the track of the ground penetrating radar according to the forward direction and the forward distance, so that the track data of the ground penetrating radar can be well generated even when the GPS signal is weak.

Description

Technical Field

[0001] The present application relates to the field of ground penetrating radar positioning technology, and in particular to a ground penetrating radar trajectory positioning method, device and storage medium. Background Art

[0002] 3D ground penetrating radar is a non-destructive electromagnetic detection technology that uses ultra-high frequency electromagnetic waves to detect the electromagnetic characteristics and distribution patterns of underground or other invisible media based on the physical premise of medium differences (dielectric constant, conductivity, magnetic permeability). Its basic theory comes from transient electromagnetic field theory. It can generate images of underground structures by processing and analyzing reflected signals in the form of pulses to detect objects or structures below the surface or invisible, such as the distribution of underground rock formations, the location of cavities, and the direction of underground pipelines and cables. Combining radar data with geographic information systems (GIS) can locate underground space information, so as to perform spatial analysis and visual display of underground targets, and provide a scientific basis for subsequent planning, design and construction.

[0003] At present, the common practice to achieve synchronous matching of radar data and GIS is to install a continuously running GPS (Global Positioning System) module on the radar host. This module continuously and error-free captures satellite signals and accurately associates the satellite's precise timestamp with each set of radar data, so that each radar data has a precise satellite timestamp. At the same time, a RTK (real-time differential positioning) device is fixed at a certain position in the ground-penetrating radar system to receive data containing geographic location information and satellite timestamps in real time. The radar data is then synchronized and associated with the RTK data containing geographic information through the satellite timestamp, so that each radar data can be accurately matched with the RTK data containing its exact location information, so as to achieve accurate integration of radar data and GIS.

[0004] However, when encountering obstructions from trees and buildings, as well as in tunnels or indoor environments, the signals of positioning satellites are interfered with, which may lead to a decrease in the accuracy of the acquired position information, and then cause phenomena such as floating point solutions and flying points. Even with the combination of an inertial navigation system (INS), this problem cannot be fundamentally solved. Because in tunnels, the positioning error of inertial navigation will increase with the increase in driving distance, thereby significantly reducing the accuracy of positioning; and in indoor environments, inertial navigation cannot operate effectively. In addition, inertial navigation requires a long initial alignment time, so it takes a long time to restore accurate alignment after leaving the tunnel, which has significant deficiencies in terms of rapid response. Summary of the invention

[0005] In view of this, the present application provides a trajectory positioning method, device and storage medium of a ground penetrating radar to solve the problem that the GPS positioning system is difficult to accurately position in obstructed areas.

[0006] In order to solve the above technical problems, a technical solution adopted in the present application is: to provide a trajectory positioning method for a ground penetrating radar, which includes: obtaining the initial trajectory point data of the ground penetrating radar; collecting the deflection angle and the number of rotations of the wheels of the ground penetrating radar when it moves; confirming the trajectory point data of the ground penetrating radar based on the deflection angle and the number of rotations; and generating the trajectory data of the ground penetrating radar based on the initial trajectory point data and the trajectory point data of the ground penetrating radar.

[0007] As a further improvement of the present application, the deflection direction and number of rotations of the wheels of the ground penetrating radar when it moves are collected, including: when the ground penetrating radar moves, the deflection angle of the wheels of the ground penetrating radar at the current sampling moment compared to the previous sampling moment, and the number of rotations between the current sampling moment and the previous sampling moment are collected according to a preset sampling period.

[0008] As a further improvement of the present application, the trajectory positioning method of the ground penetrating radar also includes: when the ground penetrating radar moves, if it is detected that the wheels of the ground penetrating radar are deflected compared to the previous sampling moment, then the deflection angle of the wheels of the ground penetrating radar and the number of rotations in the time period between the current sampling moment and the previous sampling moment are collected once.

[0009] As a further improvement of the present application, the trajectory point data of the ground penetrating radar is confirmed based on the deflection angle and the number of rotations, including: confirming the travel direction of the ground penetrating radar between the current sampling moment and the previous sampling moment according to the deflection angle, and the travel distance of the ground penetrating radar along the travel direction between the current sampling moment and the previous sampling moment, to obtain trajectory point data corresponding one-to-one to each sampling point.

[0010] As a further improvement of the present application, the trajectory data of the ground penetrating radar is generated according to the initial trajectory point data and the trajectory point data of the ground penetrating radar, including: taking the initial trajectory point data as the starting point, mapping each trajectory point data to the same coordinate system in sequence according to the sampling time order, to obtain the trajectory data of the ground penetrating radar.

[0011] As a further improvement of the present application, obtaining initial trajectory point data of the ground penetrating radar includes: obtaining the trajectory point data last collected by the GPS positioning system as the initial trajectory point data of the ground penetrating radar.

[0012] As a further improvement of the present application, after confirming the trajectory point data of the ground penetrating radar based on the deflection angle and the number of rotations, it also includes: acquiring the trajectory point data collected by the inertial measurement unit; fusing the trajectory point data collected by the inertial measurement unit with the trajectory point data of the ground penetrating radar to obtain the final trajectory point data.

[0013] As a further improvement of the present application, after obtaining the trajectory data of the ground penetrating radar, it also includes: clustering all trajectory point data mapped to the same coordinate system to obtain multiple clusters, and retaining the target trajectory point data corresponding to the largest cluster; using the interpolation method to complete the target trajectory point data to obtain the final trajectory data.

[0014] In order to solve the above technical problems, another technical solution adopted in the present application is: to provide a computer device, which includes a processor and a memory coupled to the processor, wherein program instructions are stored in the memory, and when the program instructions are executed by the processor, the processor executes the steps of the trajectory positioning method of the ground penetrating radar as described in any one of the above items.

[0015] In order to solve the above technical problems, another technical solution adopted by the present application is: to provide a storage medium storing program instructions capable of implementing any of the above-mentioned ground penetrating radar trajectory positioning methods.

[0016] The beneficial effect of the present application is as follows: the trajectory positioning method of the ground penetrating radar of the present application obtains the initial trajectory point data of the ground penetrating radar before the ground penetrating radar enters the area where the GPS positioning system cannot accurately obtain the positioning signal, and then collects the deflection angle and the number of rotations of the wheels of the ground penetrating radar during the movement, and uses the deflection angle and the number of rotations to calculate the forward direction and the forward distance of the ground penetrating radar compared with the initial trajectory point data, and generates the trajectory of the ground penetrating radar according to the forward direction and the forward distance, so that the trajectory data of the ground penetrating radar can be well generated even when the GPS signal is weak. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of a process of a trajectory positioning method of a ground penetrating radar according to an embodiment of the present invention;

[0018] Figure 2 It is a schematic diagram of functional modules of a trajectory positioning device of a ground penetrating radar according to an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of the structure of a computer device according to an embodiment of the present invention;

[0020] Figure 4 It is a schematic diagram of the structure of the storage medium of an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] The terms "first", "second" and "third" in this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second" and "third" can explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. All directional indications (such as up, down, left, right, front, back...) in the embodiments of this application are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0023] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0024] Figure 1 FIG. 1 is a flow chart of a method for locating a track of a ground penetrating radar according to an embodiment of the present invention. It should be noted that the method of the present invention is not limited to the method of FIG. 1 if substantially the same results are achieved. Figure 1 The process sequence shown is limited. Figure 1 As shown, the trajectory positioning method of the ground penetrating radar includes the steps of:

[0025] Step S101: Acquire initial trajectory point data of the ground penetrating radar.

[0026] It should be noted that the ground penetrating radar usually includes a vehicle-mounted base and a radar antenna arranged on the vehicle-mounted base. The vehicle-mounted base is provided with wheels and moves under the drive mechanism carried by itself or under human power. The initial track point data refers to the position coordinates containing absolute geographic information.

[0027] Specifically, when the ground penetrating radar enters an obstructed area, the initial track point data of the ground penetrating radar is obtained. The obstructed area includes but is not limited to tunnels, basements, woods obstructed by trees, and other areas with weak GPS positioning signals, which are not limited in the present invention.

[0028] Furthermore, step S101 specifically includes: acquiring the track point data finally collected by the GPS positioning system as the initial track point data of the ground penetrating radar.

[0029] Specifically, when the GPS positioning system signal is lost or weak, the present embodiment uses the last track point data collected before the GPS positioning system signal is lost or weak as the initial track point data of the ground penetrating radar. It can be confirmed whether the GPS positioning system has lost or weak signal according to whether the GPS positioning system returns track point data or whether the track point data returned by the GPS positioning system is accurate.

[0030] Furthermore, in some embodiments, the trajectory point data input by the user may be directly used as the trajectory point data of the ground penetrating radar.

[0031] Step S102: collecting the deflection angle and number of rotations of the wheels of the ground penetrating radar when it moves.

[0032] Specifically, a ground penetrating radar usually includes four wheels: front, rear, left, and right. When the ground penetrating radar is working, all four wheels are on the ground. By measuring the deflection angle of the wheel compared to the previous sampling point and the number of rotations of the wheel, the direction and distance of the ground penetrating radar can be confirmed based on the deflection angle and the number of rotations.

[0033] Furthermore, in some embodiments, step S102 specifically includes: when the ground penetrating radar moves, collecting the deflection angle of the wheel of the ground penetrating radar at the current sampling moment compared to the previous sampling moment, and the number of rotations between the current sampling moment and the previous sampling moment according to a preset sampling period.

[0034] Specifically, in this embodiment, a sampling period is preset, and at each interval of the sampling period, the deflection angle of the wheel of the ground penetrating radar compared to the previous sampling moment, and the number of rotations between the current sampling moment and the previous sampling moment are collected. If the current sampling point is the first sampling point, the direction of travel of the wheel when the initial trajectory point data is confirmed is used as the initial direction of travel of the wheel, and the number of rotations of the wheel at this moment is initialized to 0. When collecting the first sampling point, the deflection angle of the wheel at the first sampling point compared to the initial direction of travel, and the number of rotations of the wheel between the time of confirming the initial trajectory point data and the time of collecting the first sampling point are compared.

[0035] Furthermore, based on the above embodiments, in other embodiments, the method also includes: when the ground penetrating radar moves, if it is detected that the wheels of the ground penetrating radar are deflected compared to the previous sampling moment, then the deflection angle of the wheels of the ground penetrating radar and the number of rotations in the time period between the current sampling moment and the previous sampling moment are collected once.

[0036] Specifically, in order to make the final generated trajectory data more accurate, in this embodiment, each time the wheel deflection is detected, the wheel's deflection direction and number of rotations are collected once, so that the ground penetrating radar's turning process is sampled more densely to accurately restore the ground penetrating radar's turning trajectory. For the straight-line driving process, it only needs to be sampled according to the sampling period, thereby reducing the sampling amount and the amount of subsequent data calculation.

[0037] Step S103: confirming the track point data of the ground penetrating radar based on the deflection angle and the number of rotations.

[0038] Specifically, after collecting the deflection angle and number of rotations of the wheel, the wheel's direction of travel is confirmed using the wheel's deflection angle, and the travel distance is calculated using the number of rotations of the wheel, and the track point data of the ground penetrating radar is confirmed based on the wheel's direction of travel and distance of travel.

[0039] Furthermore, on the basis of the above embodiments, in other embodiments, step S103 specifically includes: confirming the travel direction of the ground penetrating radar between the current sampling moment and the previous sampling moment according to the deflection angle, and the travel distance of the ground penetrating radar along the travel direction between the current sampling moment and the previous sampling moment, and obtaining trajectory point data corresponding to each sampling point one by one.

[0040] Specifically, in order to ensure the accuracy of the final trajectory data, the present embodiment collects the deflection angle and number of rotations of the wheels of the ground penetrating radar according to a preset sampling period. Each time data is collected, the direction of movement of the wheels at the previous sampling moment is used as a reference to confirm the deflection angle of the current sampling moment relative to the previous sampling moment, as well as the number of rotations of the wheels from the previous sampling moment to the current sampling moment. The direction of movement of the wheels in this sampling period can be confirmed based on the deflection angle, and the distance traveled by the wheels in this sampling period can be confirmed based on the number of rotations, and finally the trajectory point data corresponding to each sampling point is obtained.

[0041] Furthermore, after step S103, the method further includes:

[0042] 1. Obtain the trajectory point data collected by the inertial measurement unit.

[0043] 2. The trajectory point data collected by the inertial measurement unit and the trajectory point data of the ground penetrating radar are integrated to obtain the final trajectory point data.

[0044] Specifically, in order to make the final trajectory more accurate, in this embodiment, when obtaining the trajectory point data based on the deflection angle and the number of rotations of the wheel, the inertial measurement unit is used to collect the trajectory point data of the ground penetrating radar within this time period, and then the trajectory point data collected by the inertial measurement unit and the trajectory point data obtained based on the wheel deflection angle and the number of rotations are fused, thereby improving the reliability and stability of the final trajectory point data.

[0045] In this embodiment, the Kalman filter algorithm is used to fuse the trajectory point data collected by the inertial measurement unit and the trajectory point data obtained according to the wheel deflection angle and the number of rotations. Specifically, the mathematical module and typical formula of the Kalman filter algorithm are as follows:

[0046] State update equation:

[0047] ;

[0048] ;

[0049] Measurement update equation:

[0050] ;

[0051] ;

[0052] ;

[0053] in, for The best estimate of time, for The predicted value at time, is the state transfer matrix, is the control matrix, is the control vector, is the forecast error covariance matrix, for The optimal estimation error covariance matrix at time , is the process noise covariance matrix, is the Kalman gain, is the observation matrix, is the measurement noise covariance matrix, for The best estimate of time, is the actual observed quantity, is the modified covariance matrix.

[0054] In this embodiment, the trajectory point data obtained according to the wheel deflection angle and the number of rotations are used to predict the trajectory point data at the sampling time, and the trajectory point data collected by the inertial measurement unit is used as the observation quantity to update the prediction result, thereby obtaining the optimal trajectory point data.

[0055] Step S104: generating trajectory data of the ground penetrating radar according to the initial trajectory point data and the trajectory point data of the ground penetrating radar.

[0056] Specifically, after obtaining the trajectory point data at each sampling moment, the initial trajectory point data is used as the initial trajectory point, and the travel direction and travel distance in each sampling period are generated in sequence according to the sampling moment. According to the travel direction and travel distance of the ground penetrating radar in each sampling period, the position of the ground penetrating radar is gradually updated, and by accumulating these position changes, a continuous and complete driving trajectory of the ground penetrating radar is formed.

[0057] Furthermore, step S104 specifically includes: taking the initial trajectory point data as the starting point, mapping each trajectory point data to the same coordinate system in sequence according to the sampling time sequence, and obtaining the trajectory data of the ground penetrating radar.

[0058] Furthermore, after obtaining the trajectory data of the ground penetrating radar, it also includes:

[0059] 1. Cluster all trajectory point data mapped to the same coordinate system to obtain multiple clusters, and retain the target trajectory point data corresponding to the largest cluster.

[0060] 2. Use the interpolation method to complete the target trajectory point data to obtain the final trajectory data.

[0061] Specifically, after obtaining the track point data of the ground penetrating radar, all the track point data are clustered to obtain multiple clusters, each cluster corresponds to at least one track point, and the cluster containing the largest number of track points is confirmed, and then all the track points in the cluster are retained, and the track points in the cluster are deleted, thereby filtering the noise points in the track point data to avoid the accuracy of the track finally generated by the noise image. Furthermore, after filtering out the noise points, in order to make the track more complete, this embodiment uses an interpolation algorithm to fill the area with a large gap between two adjacent track points, so that the track is more continuous and complete.

[0062] The trajectory positioning method of the ground penetrating radar in this embodiment obtains the initial trajectory point data of the ground penetrating radar before the ground penetrating radar enters the area where the GPS positioning system cannot accurately obtain the positioning signal, and then collects the deflection angle and the number of rotations of the wheels of the ground penetrating radar during the movement, and uses the deflection angle and the number of rotations to calculate the forward direction and forward distance of the ground penetrating radar compared to the initial trajectory point data, and generates the trajectory of the ground penetrating radar according to the forward direction and forward distance, so that the trajectory data of the ground penetrating radar can be well generated even when the GPS signal is weak.

[0063] Figure 2 Schematic diagram of the functional modules of the track positioning device of the ground penetrating radar according to the embodiment of the present invention. Figure 2 As shown, the trajectory positioning device 20 of the ground penetrating radar includes an acquisition module 21, a collection module 22, a confirmation module 23 and a generation module 24.

[0064] An acquisition module 21 is used to acquire initial trajectory point data of a ground penetrating radar;

[0065] The acquisition module 22 is used to acquire the deflection angle and the number of rotations of the wheels of the ground penetrating radar when it moves;

[0066] A confirmation module 23, used to confirm the track point data of the ground penetrating radar based on the deflection angle and the number of rotations;

[0067] The generating module 24 is used to generate the trajectory data of the ground penetrating radar according to the initial trajectory point data and the trajectory point data of the ground penetrating radar.

[0068] Optionally, the collection module 22 performs the operation of collecting the deflection direction and number of rotations of the wheels of the ground penetrating radar when it moves, specifically including: when the ground penetrating radar moves, collecting the deflection angle of the wheels of the ground penetrating radar at the current sampling moment compared to the previous sampling moment, and the number of rotations between the current sampling moment and the previous sampling moment according to a preset sampling period.

[0069] Optionally, the collection module 22 is also used for: when the ground penetrating radar moves, if it is detected that the wheels of the ground penetrating radar are deflected compared to the previous sampling moment, then the deflection angle of the wheels of the ground penetrating radar and the number of rotations in the time period between the current sampling moment and the previous sampling moment are collected once.

[0070] Optionally, the confirmation module 23 performs an operation of confirming the trajectory point data of the ground penetrating radar based on the deflection angle and the number of rotations, specifically including: confirming the travel direction of the ground penetrating radar between the current sampling moment and the previous sampling moment, and the travel distance of the ground penetrating radar along the travel direction between the current sampling moment and the previous sampling moment according to the deflection angle, and obtaining trajectory point data corresponding one-to-one to each sampling point.

[0071] Optionally, the generation module 24 performs an operation of generating the trajectory data of the ground penetrating radar based on the initial trajectory point data and the trajectory point data of the ground penetrating radar, specifically including: taking the initial trajectory point data as the starting point, mapping each trajectory point data to the same coordinate system in sequence according to the sampling time order, to obtain the trajectory data of the ground penetrating radar.

[0072] Optionally, the acquisition module 21 performs an operation of acquiring initial track point data of the ground penetrating radar, specifically including: acquiring the track point data last collected by the GPS positioning system as the initial track point data of the ground penetrating radar.

[0073] Optionally, after the generation module 24 performs the operation of confirming the trajectory point data of the ground penetrating radar based on the deflection angle and the number of rotations, it is also used to: obtain the trajectory point data collected by the inertial measurement unit; merge the trajectory point data collected by the inertial measurement unit with the trajectory point data of the ground penetrating radar to obtain the final trajectory point data.

[0074] Optionally, after the generation module 24 executes the operation of obtaining the trajectory data of the ground penetrating radar, it is also used to: cluster all trajectory point data mapped to the same coordinate system to obtain multiple clusters, and retain the target trajectory point data corresponding to the largest cluster; use the interpolation method to complete the target trajectory point data to obtain the final trajectory data.

[0075] For other details about the technical solutions for implementing each module in the trajectory positioning device of the ground penetrating radar in the above embodiment, please refer to the description of the trajectory positioning method of the ground penetrating radar in the above embodiment, which will not be repeated here.

[0076] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0077] See also Figure 3 , Figure 3 FIG. 1 is a schematic diagram of the structure of a computer device according to an embodiment of the present invention. Figure 3 As shown, the computer device 30 includes a processor 31 and a memory 32 coupled to the processor 31. The memory 32 stores program instructions. When the program instructions are executed by the processor 31, the processor 31 executes the steps of the trajectory positioning method of the ground penetrating radar described in any of the above embodiments.

[0078] The processor 31 may also be referred to as a resource (Central Processing Unit). The processor 31 may be an integrated circuit chip having the ability to process signals. The processor 31 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0079] See also Figure 4 , Figure 4 It is a schematic diagram of the structure of the storage medium of the embodiment of the present invention. The storage medium of the embodiment of the present invention stores program instructions 41 that can implement the trajectory positioning method of the above-mentioned ground penetrating radar, wherein the program instructions 41 can be stored in the above-mentioned storage medium in the form of a software product, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes, or computer devices such as computers, servers, mobile phones, tablets, etc.

[0080] In the several embodiments provided in the present application, it should be understood that the disclosed computer equipment, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0081] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units. The above is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of this application, or directly or indirectly used in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A ground penetrating radar trajectory positioning method, characterized in that: It includes: Obtain initial trajectory point data of ground penetrating radar; Collecting the deflection angle and number of rotations of the wheels of the ground penetrating radar when it moves; confirming the track point data of the ground penetrating radar based on the deflection angle and the number of rotations; Generating trajectory data of the ground penetrating radar according to the initial trajectory point data and the trajectory point data of the ground penetrating radar; The step of generating the trajectory data of the ground penetrating radar according to the initial trajectory point data and the trajectory point data of the ground penetrating radar comprises: Taking the initial trajectory point data as the starting point, mapping each trajectory point data to the same coordinate system in sequence according to the sampling time sequence, to obtain the trajectory data of the ground penetrating radar; After obtaining the trajectory data of the ground penetrating radar, the method further includes: Cluster all trajectory point data mapped to the same coordinate system to obtain multiple clusters, and retain the target trajectory point data corresponding to the largest cluster; The target trajectory point data is completed using an interpolation method to obtain final trajectory data.

2. The trajectory positioning method of ground penetrating radar according to claim 1, characterized in that: The collecting of the deflection direction and the number of rotations of the wheels of the ground penetrating radar when it moves includes: When the ground penetrating radar moves, the deflection angle of the wheel of the ground penetrating radar at the current sampling moment compared with the previous sampling moment, and the number of rotations between the current sampling moment and the previous sampling moment are collected according to a preset sampling period.

3. The trajectory positioning method of ground penetrating radar according to claim 2, characterized in that: The method further comprises: When the ground penetrating radar moves, if it is detected that the wheel of the ground penetrating radar is deflected compared with the previous sampling time, the deflection angle of the wheel of the ground penetrating radar and the number of rotations in the time period between the current sampling time and the previous sampling time are collected once.

4. The trajectory positioning method of the ground penetrating radar according to claim 2 or 3, characterized in that: The step of confirming the track point data of the ground penetrating radar based on the deflection angle and the number of rotations includes: The travel direction of the ground penetrating radar between the current sampling moment and the previous sampling moment and the travel distance of the ground penetrating radar along the travel direction between the current sampling moment and the previous sampling moment are confirmed according to the deflection angle, and trajectory point data corresponding to each sampling point is obtained.

5. The trajectory positioning method of ground penetrating radar according to claim 1, characterized in that: The step of obtaining the initial trajectory point data of the ground penetrating radar comprises: The track point data finally collected by the GPS positioning system is obtained as the initial track point data of the ground penetrating radar.

6. The trajectory positioning method of ground penetrating radar according to claim 1, characterized in that: After confirming the track point data of the ground penetrating radar based on the deflection angle and the number of rotations, the method further includes: Obtain trajectory point data collected by the inertial measurement unit; The track point data collected by the inertial measurement unit and the track point data of the ground penetrating radar are fused to obtain final track point data.

7. A computer device, characterized in that: The computer device includes a processor and a memory coupled to the processor, wherein program instructions are stored in the memory. When the program instructions are executed by the processor, the processor executes the steps of the trajectory positioning method of the ground penetrating radar as described in any one of claims 1 to 6.

8. A storage medium, characterized in that: The device stores program instructions capable of implementing the trajectory positioning method of the ground penetrating radar as claimed in any one of claims 1 to 6.

Images