Glacier weight detection method based on ground penetrating radar carried by unmanned aerial vehicle

Abstract

The invention relates to a glacier weight detection method based on a ground penetrating radar carried by an unmanned aerial vehicle. The glacier weight detection method comprises the steps that the unmanned aerial vehicle takes off and flies according to a preset sailing survey line path; the ground penetrating radar works to emit electromagnetic waves and receives reflection signals; a control system transmits the signals to a ground station; the ground station processes the signals and calculates the glacier layer thickness; and the interpretation software platform carries out data visualization display. According to the glacier weight detection method based on the ground penetrating radar carried by the unmanned aerial vehicle, efficient and accurate glacier thickness detection can be realized, and detection requirements under different environments and geological conditions can be met. The ground penetrating radar can accurately measure the thickness of the glacier layer and provide high-resolution geological information; compared with a traditional geological exploration method, the cost is lower, and the economical efficiency is better; the ground penetrating radar adopts an electromagnetic wave detection technology, nondestructive detection is realized, and the influence on the environment is reduced; the unmanned aerial vehicle has strong flexibility and maneuverability, and is suitable for glacier thickness detection in complex environments such as high mountains and polar regions.

Description

Technical Field

[0001] The present invention belongs to the technical field of glacier exploration, and specifically relates to a glacier weight detection method, and in particular to a glacier thickness rapid detection method based on an unmanned aerial vehicle equipped with a ground penetrating radar. Background Art

[0002] Glaciers are important water reserves on the Earth's surface and are also sensitive indicators of climate change. The thickness and distribution of glaciers are of great significance for water resource management, environmental protection, and global climate change research. As the global climate warms, many glaciers have retreated significantly, and accurately detecting and monitoring their thickness and changing trends has become a key task.

[0003] At present, the detection of glacier thickness mainly relies on traditional geological and geophysical exploration methods, such as drilling, seismic exploration and geoelectric method. Although the above methods can provide relatively accurate detection data, they have the following shortcomings: ① Low efficiency. Traditional methods usually require a lot of manual operation and field work, which takes a long time and is difficult to meet the needs of rapid detection of large areas of glaciers; ② High cost. Methods such as drilling and seismic exploration require a lot of professional equipment and human resources, which is expensive, especially in remote or difficult-to-reach glacier areas, where the operation difficulty and cost are more significant; ③ Environmental impact. Traditional exploration methods may cause damage to the surface of the glacier. For example, drilling may cause local environmental disturbances, which in turn affects the natural state of the glacier; ④ Limited scope of application. In some complex terrain conditions, such as steep glacier fronts or deep valleys, traditional methods are difficult to implement effectively, which limits their scope of application.

[0004] In recent years, the rapid development of unmanned aerial vehicle (UAV) technology has provided a new technical means for the detection of glacier thickness. By carrying ground penetrating radar (GPR) equipment, UAVs can conduct extensive regional detection without contacting the glacier surface. Compared with traditional methods, UAVs equipped with GPR have the following significant advantages: ① High efficiency and speed. UAVs can cover a large area of ​​glaciers in a short time and quickly obtain glacier thickness data, which greatly improves the detection efficiency; ② Low cost. UAVs are relatively simple to operate, requiring less equipment and human resources, and are especially suitable for remote or difficult-to-reach glacier areas, which significantly reduces the exploration cost; ③ Non-destructive detection. GPR detects through electromagnetic waves and does not need to contact the glacier surface. It can achieve non-destructive detection and avoid interference with the natural state of the glacier; ④ Widely applicable. UAVs have strong flexibility and maneuverability and can detect under complex terrain conditions, expanding the scope of application of glacier thickness detection.

[0005] Although the ground-penetrating radar technology equipped with drones has shown significant advantages in the detection of glacier thickness, the existing technology still has some shortcomings: ① Complex data processing: The raw data obtained by the ground-penetrating radar needs to undergo complex processing and analysis to obtain accurate glacier thickness information, which places high demands on data processing technology and algorithms; ② Environmental interference: The complex environmental conditions in glacier areas, such as ice and snow cover, climate change and terrain undulations, may interfere with the detection results of the ground-penetrating radar and affect the accuracy of the data; ③ Equipment integration: The integration and collaborative working capabilities of drones and ground-penetrating radars need to be further improved to ensure the stability of the system and the detection effect.

[0006] Based on this, there is an urgent need to develop a new glacier weight detection method based on unmanned aerial vehicles equipped with ground penetrating radar to overcome the shortcomings of low efficiency, high cost and complex data processing in existing technologies and achieve efficient and accurate detection of glacier thickness. Summary of the invention

[0007] The purpose of the present invention is to provide a method for rapid detection of glacier thickness based on an unmanned aerial vehicle (UAV) equipped with a ground-penetrating radar. By utilizing the flexible flight capability of the UAV and the efficient detection performance of the ground-penetrating radar, the problems of low efficiency, high cost and complex data processing can be solved, thereby achieving rapid and accurate measurement of glacier thickness and improving the efficiency and accuracy of geological exploration.

[0008] The objective of the present invention is achieved through the following technical solutions:

[0009] A method for measuring glacier weight based on a ground penetrating radar carried by an unmanned aerial vehicle comprises the following steps:

[0010] A. The drone takes off and flies along the planned navigation route:

[0011] UAV 1 is equipped with a ground penetrating radar device and flies on a preset flight path to cover the glacier layer in the target area;

[0012] B. Ground penetrating radar works by emitting electromagnetic waves and receiving reflected signals:

[0013] During the flight, ground-penetrating radar is used to collect data. The ground-penetrating radar continuously emits electromagnetic waves during the flight and receives signals reflected from the ground. The ground-penetrating radar obtains preliminary electromagnetic wave reflection characteristic data of the stratum by analyzing the time delay and intensity of the reflected signal.

[0014] C. The control system transmits signals to ground station 4:

[0015] The raw radar data collected by the ground penetrating radar is transmitted to the ground station 4 via the wireless communication system 3;

[0016] D. Ground station 4 processes the signal and calculates the thickness of the glacier layer:

[0017] Ground station 4 uses a data processing system to perform denoising, filtering and inversion processing on the received radar data to extract the thickness information of the glacier layer;

[0018] E. Interpretation software platform for data visualization:

[0019] The data processing system inputs the calculated glacier thickness information into the interpretation software platform for spatial positioning and visualization. The interpretation software platform can generate a glacier thickness distribution map to intuitively display the glacier thickness in the target area.

[0020] Further, in step A, the flight path of the UAV 1 is planned by the control system 2 of the ground station 4, and flight control is performed to ensure that all geographical locations in the target area are covered.

[0021] Furthermore, in step B, the ground penetrating radar device includes a transmitter and a receiver, the transmitter is used to transmit electromagnetic waves, and the receiver is used to receive electromagnetic wave signals reflected from the ground.

[0022] Furthermore, in step C, the wireless communication system 3 provides a reliable communication link for data transmission between the UAV 1 and the ground station 4, ensuring real-time transmission of radar data.

[0023] Furthermore, in step D, the data processing system uses advanced signal processing algorithms, including denoising, filtering and inversion processing, to improve the accuracy of glacier thickness calculation.

[0024] Furthermore, data denoising uses bandpass filtering and moving average filtering to remove high-frequency noise and low-frequency drift and retain valid signals; signal enhancement uses Hilbert transform and short-time Fourier transform to enhance the strength of the reflected signal and improve the identifiability of the signal; multi-layer inversion algorithm and least squares inversion algorithm are used to invert and calculate the thickness of the glacier layer and other formation parameters based on the received reflected signal.

[0025] Furthermore, in step E, the interpretation software platform is used to spatially locate the processed glacier thickness data and generate a visual glacier thickness distribution map.

[0026] Furthermore, the operating frequency of the ground penetrating radar is 50 MHz to 500 MHz.

[0027] Furthermore, when the ground penetrating radar detects, the transmission power is 10-100 watts, the scanning interval is 0.1 meter to 1 meter, the sampling rate is 1000 times / second to 5000 times / second, the antenna is configured with a dual-polarity antenna, and is installed horizontally.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The glacier weight detection method based on the ground-penetrating radar carried by an unmanned aerial vehicle can realize efficient and accurate glacier thickness detection and adapt to the detection needs under different environmental and geological conditions. Specifically, it has the following advantages:

[0030] 1. The present invention is based on a method for rapid detection of glacier weight using a ground-penetrating radar mounted on an unmanned aerial vehicle. In terms of data collection efficiency, the unmanned aerial vehicle can cover a large area in a short time, and combined with the rapid data collection capability of the ground-penetrating radar, efficient detection of glacier thickness can be achieved;

[0031] 2. In terms of detection accuracy, the ground penetrating radar can accurately measure the thickness of the glacier layer and provide high-resolution geological information by transmitting and receiving electromagnetic wave signals and using advanced signal processing algorithms;

[0032] 3. In terms of the economic efficiency of this method: UAVs are easy to operate, require less equipment and human resources, and are cheaper and more economical than traditional geological exploration methods;

[0033] 4. Non-destructive detection: Ground penetrating radar uses electromagnetic wave detection technology, which does not need to destroy the surface, realizes non-destructive detection and reduces the impact on the environment;

[0034] 5. In terms of environmental adaptability: The UAV has strong flexibility and maneuverability, and can perform flight detection under complex terrain conditions. It is suitable for glacier thickness detection in complex environments such as high mountains and polar regions. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 This is a schematic diagram of the structure of the ground-penetrating radar system mounted on a UAV;

[0037] Figure 2 The detection flow chart is shown in Figure 2.

[0038] In the figure, 1. UAV 2. Control system 3. Wireless communication system 4. Ground station. DETAILED DESCRIPTION

[0039] The present invention will be further described below in conjunction with embodiments:

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0041] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0042] The present invention is based on a glacier weight detection method using a ground penetrating radar mounted on an unmanned aerial vehicle, and comprises the following steps:

[0043] 1. The drone takes off and flies along the predetermined navigation route:

[0044] The drone 1 is equipped with a ground penetrating radar device and flies on a preset flight path. The flight path of the drone 1 is planned by the control system 2 of the ground station 4 and the flight is controlled to cover the glacier layer in the target area.

[0045] 2. Ground penetrating radar emits electromagnetic waves and receives reflected signals:

[0046] During the flight, ground-penetrating radar is used to collect data. The ground-penetrating radar continuously emits electromagnetic waves during the flight and receives signals reflected from the ground. The ground-penetrating radar obtains preliminary electromagnetic wave reflection characteristic data of the stratum by analyzing the time delay and intensity of the reflected signal.

[0047] The ground penetrating radar device comprises a transmitter and a receiver, wherein the transmitter is used to transmit electromagnetic waves, and the receiver is used to receive electromagnetic wave signals reflected from the ground.

[0048] 3. The control system transmits signals to the ground station 4:

[0049] The raw radar data collected by the ground penetrating radar is transmitted to the ground station 4 via wireless communication.

[0050] The wireless communication system 3 provides a reliable communication link for data transmission between the UAV 1 and the ground station 4, ensuring the real-time transmission of radar data.

[0051] 4. Ground station 4 processes the signal and calculates the thickness of the glacier layer:

[0052] Ground station 4 is equipped with a data processing system that uses advanced signal processing algorithms to denoise, filter and invert the received radar data to extract the thickness information of the glacier layer.

[0053] The data processing system uses advanced signal processing algorithms, including denoising, filtering and inversion processing, to improve the accuracy of glacier thickness calculations.

[0054] 5. Interpretation software platform for data visualization:

[0055] The data processing system inputs the calculated glacier thickness information into the interpretation software platform for spatial positioning and visualization. The interpretation software platform can generate a distribution map of glacier thickness and intuitively display the glacier thickness in the target area.

[0056] The interpretation software platform is used to spatially locate the processed glacier thickness data and generate a visual glacier thickness distribution map.

[0057] The integrated design of the UAV 1 and the ground penetrating radar equipment makes the system highly flexible and maneuverable, and can adapt to the glacier thickness detection under various complex terrain conditions.

[0058] The operating frequency of the ground penetrating radar is a key parameter for detecting the thickness of glaciers. According to the detection principle of ground penetrating radar, the higher the operating frequency, the higher the resolution, but the shallower the detection depth; the lower the operating frequency, the greater the detection depth, but the lower the resolution. For glacier thickness detection, it is necessary to find a balance between resolution and detection depth. The recommended frequency range is 50MHz to 500MHz, of which 50MHz is suitable for detecting deeper glacier layers, but the resolution is lower, 100MHz-200MHz is suitable for detection at medium depths, with a better balance between depth and resolution, and 500MHz is suitable for detecting shallower glacier layers, with a higher resolution, but a shallower detection depth.

[0059] When detecting glacier thickness, it is necessary to fully consider the medium properties of the glacier surface, permafrost and underlying strata, which will affect the propagation speed and reflection characteristics of electromagnetic waves.

[0060] The basic electromagnetic properties of the glacier surface are: ① Dielectric constant: 3-4; ② Electrical conductivity: low, almost 0; ③ Electromagnetic characteristics: The attenuation of electromagnetic waves in the ice layer is small, but due to the transparency of the ice, electromagnetic waves can easily penetrate.

[0061] Basic electromagnetic properties of permafrost: ① Dielectric constant: 6-8; ② Electrical conductivity: relatively low, but higher than the surface layer of the glacier; ③ Electromagnetic characteristics: The electromagnetic wave attenuation rate of the glacier is relatively high, and an appropriate frequency needs to be selected to obtain an effective detection depth.

[0062] Basic electromagnetic properties of the strata below the permafrost layer: ① Dielectric constant: 8-12 (sand), 12-30 (clay); ② Conductivity: relatively high, with a significantly increased attenuation rate; ③ Electromagnetic characteristics: Due to the high conductivity, the attenuation of electromagnetic waves in the strata below is relatively large, and attention should be paid to the limitation of the detection depth.

[0063] In the present invention, the ground penetrating radar detection working parameter setting should have requirements, among which the recommended value of the transmission power is 10-100 watts, and the transmission power should be adjusted according to the detection depth and resolution requirements. Higher transmission power can improve signal strength, but it also increases the possibility of electromagnetic interference. The recommended value of the scanning interval is 0.1 meter to 1 meter. A smaller scanning interval can improve the resolution of the data, but it will increase the time for data acquisition and processing. According to the detection requirements, select an appropriate scanning interval. The sampling rate should be in the range of 1000 times / second to 5000 times / second. A higher sampling rate can improve the accuracy of the data, but it will increase the complexity of data processing and storage requirements. The antenna should be configured with a bipolar antenna and installed horizontally. The appropriate antenna type and installation method can improve the signal reception effect and detection accuracy.

[0064] Data processing algorithms include data denoising, signal enhancement and inversion algorithms. Data denoising can use bandpass filtering and moving average filtering to remove high-frequency noise and low-frequency drift and retain valid signals. Signal enhancement uses Hilbert transform and short-time Fourier transform to enhance the strength of the reflected signal and improve the identifiability of the signal. Multi-layer inversion algorithm and least squares inversion algorithm are used to invert and calculate the thickness of the glacier layer and other formation parameters based on the received reflected signal.

[0065] In the process of measuring glacier thickness using ground-penetrating radar carried by drones, the main sources of signal noise include the following:

[0066] ① Environmental electromagnetic interference: It comes from surrounding electronic equipment, power lines, communication base stations, etc. Environmental electromagnetic interference will introduce noise into the signal received by the radar, reducing the signal-to-noise ratio;

[0067] ②Instrument noise: The noise generated by the electronic components and circuit boards of the ground penetrating radar equipment itself. The instrument noise will be directly superimposed on the received signal, affecting the accuracy of the detection results;

[0068] ③ Noise caused by drone movement: The vibration and movement of the drone will cause the antenna of the ground penetrating radar to vibrate, resulting in noise in the received signal.

[0069] At the same time, since the motion posture of the drone is affected by the environmental terrain and flight speed, its overall swing will cause low-frequency motion noise interference to the collected signal. In order to deal with environmental factors during data collection, electromagnetic interference should be shielded by designing a suitable shielding cover for the ground-penetrating radar antenna. The shielding cover is made of highly conductive materials (such as copper and aluminum) to reduce the impact of external electromagnetic interference on the detection signal; for the noise inside the instrument, high-quality electronic components such as low-noise amplifiers and low-noise power supplies are selected to reduce the noise generated by the instrument itself. In the design and manufacturing process of ground-penetrating radar equipment, the quality and installation process of electronic components are strictly controlled; for the signal noise caused by the movement of the drone, a shock-absorbing device is installed on the drone to reduce the vibration effect on the ground-penetrating radar equipment during flight. Mechanical shock-absorbing devices such as shock-absorbing pads and spring shock absorbers are used to isolate the ground-penetrating radar equipment from the drone body. In order to deal with the low-frequency noise of the movement, the flexibility of the drone is fully utilized, the flight altitude and path are adjusted using the ground station flight control system, the flight route is reasonably designed, and the stability of data collection is ensured. At the same time, signal processing algorithms such as wavelet transform should be selected to eliminate low-frequency motion noise.

[0070] Example 1

[0071] In a high-altitude glacier area, this method is used to detect glacier thickness. The basic structure of a UAV-mounted ground-penetrating radar system is as follows: Figure 1 As shown, it includes a drone 1, a ground penetrating radar device, a control system 2 and a ground station 4. The drone 1 carries the ground penetrating radar device, and the control system 2 is used to control the flight of the drone 1 and the operation of the ground penetrating radar. The drone 1 performs path planning and flight control through the control system 2. The ground penetrating radar device transmits the collected raw data to the ground station 4 through the wireless communication device 3. The ground station 4 is used to receive and process the ground penetrating radar data. The ground station 4 is equipped with a data processing system for data processing and visualization.

[0072] A method for measuring glacier mass based on ground-penetrating radar carried by unmanned aerial vehicles. Figure 2 As shown, after taking off, the drone 1 flies along a predetermined path, while the ground penetrating radar works, emitting electromagnetic waves and receiving reflected signals. The control system 2 transmits the received signals to the ground station 4, which processes the signals, calculates the thickness of the glacier, and visualizes it through the interpretation software platform. Specifically, the following steps are included:

[0073] 1. The drone takes off and flies along the predetermined navigation route:

[0074] Drone 1 is equipped with ground-penetrating radar equipment and takes off according to the preset flight path. Manual operation is used to assist control during the take-off and landing phase to ensure that the drone with the instrument takes off and lands smoothly. After reaching a certain height, the flight path of the drone is planned by the flight control system of the ground station, and the drone flies accurately according to the designed route to collect data to cover the glacier layer in the target area.

[0075] 2. Ground penetrating radar emits electromagnetic waves and receives reflected signals:

[0076] During the flight, the ground-penetrating radar emits electromagnetic waves and receives signals reflected from the ground. The ground-penetrating radar obtains preliminary electromagnetic wave reflection characteristic data of the stratum by analyzing the time delay and intensity of the reflected signal.

[0077] 3. The control system transmits signals to the ground station 4:

[0078] The raw data collected by the ground penetrating radar is transmitted to the ground station via wireless communication. The wireless communication system 3 ensures the reliability and real-time performance of data transmission.

[0079] 4. Ground station 4 processes the signal and calculates the thickness of the glacier layer:

[0080] Ground station 4 is equipped with a data processing system, which uses advanced signal processing algorithms to denoise, filter and invert the received radar data. Data denoising uses bandpass filtering and moving average filtering to remove high-frequency noise and low-frequency drift and retain valid signals; signal enhancement uses Hilbert transform and short-time Fourier transform to improve signal recognizability. Signal enhancement uses Hilbert transform and short-time Fourier transform to improve signal recognizability. The data processing system calculates the thickness information of the glacier layer according to the inversion algorithm.

[0081] 5. Interpretation software platform for data visualization:

[0082] The processed glacier thickness data is input into the interpretation software platform for spatial positioning and visualization. The interpretation software platform can generate a glacier thickness distribution map to intuitively display the glacier thickness in the target area.

[0083] The glacier weight detection method based on UAV equipped with ground penetrating radar provided by the present invention realizes efficient and accurate detection of glacier thickness by optimizing the flight path of the UAV, reasonably setting the working parameters of the ground penetrating radar and adopting advanced data processing algorithms. The method has the advantages of high efficiency, accuracy, economy, non-destructive detection and environmental adaptability, and is suitable for glacier thickness detection under different environments and geological conditions.

[0084] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for measuring glacier weight based on ground penetrating radar carried by an unmanned aerial vehicle, characterized in that: The following steps are involved: A. The drone takes off and flies along the planned navigation route: UAV 1 is equipped with a ground penetrating radar device and flies on a preset flight path to cover the glacier layer in the target area; B. Ground penetrating radar works by emitting electromagnetic waves and receiving reflected signals: During the flight, ground-penetrating radar is used to collect data. The ground-penetrating radar continuously emits electromagnetic waves during the flight and receives signals reflected from the ground. The ground-penetrating radar obtains preliminary electromagnetic wave reflection characteristic data of the stratum by analyzing the time delay and intensity of the reflected signal. C. The control system transmits signals to ground station 4: The raw radar data collected by the ground penetrating radar is transmitted to the ground station 4 via the wireless communication system 3; D. Ground station 4 processes the signal and calculates the thickness of the glacier layer: Ground station 4 uses a data processing system to perform denoising, filtering and inversion processing on the received radar data to extract the thickness information of the glacier layer; E. Interpretation software platform for data visualization: The data processing system inputs the calculated glacier thickness information into the interpretation software platform for spatial positioning and visualization. The interpretation software platform can generate a glacier thickness distribution map to intuitively display the glacier thickness in the target area.

2. The method for detecting glacier mass based on ground penetrating radar carried by an unmanned aerial vehicle according to claim 1, characterized in that: In step A, the flight path of the UAV 1 is planned by the control system 2 of the ground station 4, and flight control is performed to ensure that all geographical locations in the target area are covered.

3. The method for detecting glacier mass based on ground penetrating radar carried by an unmanned aerial vehicle according to claim 1 is characterized in that: In step B, the ground penetrating radar device includes a transmitter and a receiver, wherein the transmitter is used to transmit electromagnetic waves, and the receiver is used to receive electromagnetic wave signals reflected from the ground.

4. The method for detecting glacier mass based on ground penetrating radar carried by an unmanned aerial vehicle according to claim 1, characterized in that: Step C: the wireless communication system 3 provides a reliable communication link for data transmission between the UAV 1 and the ground station 4, ensuring real-time transmission of radar data.

5. The method for detecting glacier mass based on ground penetrating radar carried by an unmanned aerial vehicle according to claim 1, characterized in that: Step D: The data processing system uses advanced signal processing algorithms, including denoising, filtering and inversion processing, to improve the accuracy of glacier thickness calculation.

6. The method for detecting glacier weight based on ground penetrating radar carried by an unmanned aerial vehicle according to claim 5 is characterized in that: Data denoising uses bandpass filtering and moving average filtering to remove high-frequency noise and low-frequency drift and retain valid signals; signal enhancement uses Hilbert transform and short-time Fourier transform to enhance the strength of the reflected signal and improve the identifiability of the signal; multi-layer inversion algorithm and least squares inversion algorithm are used to invert and calculate the thickness of the glacier layer and other formation parameters based on the received reflected signal.

7. The method for detecting glacier mass based on ground penetrating radar carried by an unmanned aerial vehicle according to claim 1, characterized in that: Step E: the interpretation software platform is used to spatially locate the processed glacier thickness data and generate a visual glacier thickness distribution map.

8. The method for detecting glacier mass based on ground penetrating radar carried by an unmanned aerial vehicle according to claim 1, characterized in that: The operating frequency of ground penetrating radar is 50MHz to 500MHz.

9. The method for detecting glacier weight based on ground penetrating radar carried by an unmanned aerial vehicle according to claim 1, characterized in that: When ground penetrating radar detects, the transmission power is 10-100 watts, the scanning interval is 0.1 meter to 1 meter, the sampling rate is 1000 times / second to 5000 times / second, the antenna is configured with a dual-polarity antenna, and is installed horizontally.

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