CN111123264A - Ground penetrating radar reverse time migration imaging method considering medium frequency dispersion and attenuation compensation - Google Patents
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Abstract
The invention relates to the technical field of detection, and provides a reverse time migration imaging method of a ground penetrating radar by considering medium frequency dispersion and attenuation compensation, which comprises the following steps: acquiring a transmitting signal of an ith transmitting antenna on a component to be detected and an echo signal of a receiving antenna corresponding to the ith transmitting antenna; constructing an unstructured grid scattering three-dimensional offset velocity model according to the size and physical properties of a component to be detected; calculating forward electromagnetic wave field values S of the transmitting points of all the ith transmitting antennas by using an unstructured grid discrete three-dimensional offset velocity modeli(x1，y1，z1，t1) Counter-propagating electromagnetic field value R of receiving point of corresponding receiving antennai(x2，y2，z2，t2) Zero-delay cross-correlation value ofSum I (x, y, z). The reverse time migration imaging method of the ground penetrating radar with the medium frequency dispersion and attenuation compensation considered, provided by the embodiment of the invention, can effectively compensate the frequency dispersion and attenuation of electromagnetic waves generated when the electromagnetic waves are transmitted in an underground medium, and improves the imaging accuracy.
Description
Technical Field
The invention relates to the technical field of detection, in particular to a reverse time migration imaging method of a ground penetrating radar by considering medium frequency dispersion and attenuation compensation.
Background
The ground penetrating radar technology has been widely applied to the fields of engineering detection, environmental investigation, geological exploration and the like, and with the increasing complexity of detection objects and the continuous improvement of detection requirements, the high-precision ground penetrating radar imaging technology has become an urgent need in practical engineering application. In the working frequency range of the ground penetrating radar, the relative dielectric constant of a detection object such as soil, concrete and rock is a complex function of frequency change, the speed and the attenuation coefficient of electromagnetic waves are changed along with the frequency when the electromagnetic waves propagate in the frequency range, the energy attenuation is fast, and dispersion and distortion are often accompanied. In addition, with increasingly refined ground penetrating radar engineering detection and continuously improved detection frequency, the influence of the frequency dispersion characteristic of the underground medium on electromagnetic wave propagation is continuously increased, and the influence is urgently required to be considered in high-precision imaging of actually measured data.
In order to solve the technical problem, a method for imaging under the condition of a ground penetrating radar reverse time migration velocity model is provided. However, in the prior art, a conventional reverse time migration algorithm is generally adopted, the underground medium is generally assumed to be a non-dispersive medium for the calculation of the source point electromagnetic wave field and the receiving point backward transmission electromagnetic wave field, the dispersion and attenuation characteristics of the source point electromagnetic wave field and the receiving point backward transmission electromagnetic wave field generated when the source point electromagnetic wave field and the receiving point backward transmission electromagnetic wave field propagate in the actual underground medium are ignored, and the actual measurement ground penetrating radar data migration imaging is not clear enough. For the conventional ground penetrating radar reverse time migration imaging algorithm, the schematic diagram is shown in FIG. 1, xTFor transmitting antenna position, xRAnd for the position of a receiving antenna, an S dotted line represents a forward electromagnetic wave field of a source point and an R solid line represents a backward electromagnetic wave field of a receiving point, and the imaging of the target body is realized by calculating the cross correlation between the forward electromagnetic wave field and the backward electromagnetic wave field.
Disclosure of Invention
The embodiment of the invention provides a reverse time migration imaging method of a ground penetrating radar considering medium frequency dispersion and attenuation compensation, which solves the problem that the conventional reverse time migration algorithm is adopted in the prior art, the calculation of a source point electromagnetic wave field and a receiving point reverse transmission electromagnetic wave field usually assumes that an underground medium is a non-frequency dispersion medium, and the data migration imaging of the actually measured ground penetrating radar is not clear enough.
The embodiment of the invention is a reverse time migration imaging method of a ground penetrating radar with medium frequency dispersion and attenuation compensation considered, which comprises the following steps:
acquiring a transmitting signal of an ith transmitting antenna on a component to be detected and an echo signal of a receiving antenna corresponding to the ith transmitting antenna, wherein i is more than or equal to 1, and the transmitting signal comprises transmitting time t1Said echo signal comprising an echo time t2The transmitting antenna is used for transmitting electromagnetic wave signals to the component to be detected, and the receiving antenna is used for receiving echo signals returned by the multi-offset-range ground penetrating radar;
constructing an unstructured grid scattering three-dimensional offset velocity model according to the size and physical properties of the component to be detected;
calculating forward electromagnetic wave field values S of the transmitting points of all the ith transmitting antenna by using the unstructured grid discrete three-dimensional offset velocity modeli(x1，y1，z1，t1) The value R of the counter electromagnetic wave field of the receiving point of the corresponding receiving antennai(x2，y2，z2，t2) Obtaining a reverse time migration imaging result by the sum I (x, y, z) of the zero-delay cross correlation values; wherein,
x1、y1、z1respectively representing the three-dimensional spatial coordinates of the emission points, t1For positively propagating electromagnetic wave time, x2、y2、 z2Three-dimensional spatial coordinates, t, respectively representing the receiving points2For the time of back propagation of electromagnetic waves, x, y and z respectively represent three-dimensional space coordinates of the zero-delay cross-correlation value sum I (x, y and z).
Optionally, the method further includes: and carrying out spatial high-pass filtering on the reverse time migration imaging result to obtain a target reverse time migration imaging result.
Optionally, the step of constructing an unstructured grid scattering three-dimensional offset velocity model according to the size and the physical properties of the component to be measured specifically includes:
constructing a three-dimensional offset speed model according to the size and the physical properties of the component to be detected;
adopting dense mesh subdivision in the region with intense electromagnetic field change in the component to be measured, and dividing the electromagnetic field by using a dense mesh subdivision method
And (4) subdividing the area with gentle change by adopting a sparse grid to obtain an unstructured grid scattering three-dimensional offset speed model.
Optionally, the forward electromagnetic wave field value S of the emission point of all the ith transmitting antenna is calculated by using the unstructured grid scattering three-dimensional offset velocity modeli(x1，y1，z1，t1) The value R of the counter electromagnetic wave field of the receiving point of the corresponding receiving antennai(x2，y2，z2，t2) The step of obtaining the inverse time offset imaging result specifically includes:
calculating forward electromagnetic wave field values S of the transmitting points of all the ith transmitting antenna by using the unstructured grid discrete three-dimensional offset velocity modeli(x1，y1，z1，t1) The value R of the counter electromagnetic wave field of the receiving point of the corresponding receiving antennai(x2，y2，z2，t2) Zero-delay cross-correlation value ofi(x3，y3， z3) The calculation formula is as follows:
Ii(x3，y3，z3)＝Si(x1，y1，z1，t1)×Ri(x2，y2，z2，t2)；
all the zero-delay cross-correlation values Ii(x3，y3，z3) And summing to obtain a zero-delay cross-correlation value sum I (x, y, z) and further obtain an inverse time migration imaging result, wherein the calculation formula of the zero-delay cross-correlation value sum I (x, y, z) is as follows:
Optionally, the forward electromagnetic wave field value S of the emission point of all the ith transmitting antenna is calculated by using the unstructured grid scattering three-dimensional offset velocity modeli(x1，y1，z1，t1) The value R of the counter electromagnetic wave field of the receiving point of the corresponding receiving antennai(x2，y2，z2，t2) Zero-delay cross-correlation value ofi(x3，y3，z3) The method specifically comprises the following steps:
calculating forward electromagnetic wave field value S of the transmitting point of the ith transmitting antenna by using the unstructured grid scattering three-dimensional offset velocity modeli(x1，y1，z1，t1) The calculation formula is as follows:
calculating the reverse electromagnetic wave field value R of the receiving point of the corresponding receiving antenna by using the unstructured grid discrete three-dimensional offset velocity modeli(x2，y2，z2，t2) The calculation formula is as follows:
The reverse time migration imaging method of the ground penetrating radar with the medium frequency dispersion and attenuation compensation considered, provided by the embodiment of the invention, can effectively compensate the frequency dispersion and attenuation of electromagnetic waves generated when the electromagnetic waves are transmitted in an underground medium, and improves the imaging accuracy.
Drawings
FIG. 1 is a schematic diagram of a conventional reverse time migration imaging algorithm of a ground penetrating radar according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a ground penetrating radar reverse time migration imaging algorithm considering medium frequency dispersion and attenuation according to an embodiment of the present invention;
fig. 3 is a flowchart of a georadar reverse time migration algorithm with medium frequency dispersion and attenuation compensation taken into consideration according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The reverse time migration imaging method of the ground penetrating radar with the medium frequency dispersion and attenuation compensation considered, provided by the embodiment of the invention, can effectively compensate the frequency dispersion and attenuation of electromagnetic waves generated when the electromagnetic waves are transmitted in an underground medium, and improves the imaging accuracy.
Example one
Referring to fig. 2 and fig. 3, the method for compensating the reverse time migration imaging of the ground penetrating radar by considering the medium dispersion and the attenuation includes the following steps: the first step is as follows: obtaining the transmission signal of the ith transmitting antenna on the component to be tested, and the ith transmitting antennaThe echo signals received by the receiving antenna corresponding to the transmitting antenna, wherein i is more than or equal to 1, and the transmitting signals comprise transmitting time t1The echo signal including an echo time t2The transmitting antenna is used for transmitting electromagnetic wave signals to the component to be measured, and the receiving antenna is used for receiving echo signals returned by the multi-offset-range ground penetrating radar.
In the embodiment of the present invention, it can be understood that a user may set the number of transmitting antennas, that is, the number of receiving antennas corresponding to the number, on a component to be tested according to a requirement, which is not limited specifically.
The second step is that: and constructing an unstructured grid scattering three-dimensional offset velocity model according to the size and physical properties of the component to be measured.
In the embodiment of the present invention, the member to be measured may be concrete, soil, or the like.
As an embodiment of the present invention, the physical properties of the member to be measured include: relative permittivity, conductivity, etc.
In an embodiment of the present invention, the step of constructing the unstructured grid scattering three-dimensional offset velocity model according to the size and the physical property of the component to be measured specifically includes:
constructing a three-dimensional offset speed model according to the size and physical properties of a component to be measured;
and adopting dense mesh subdivision in the region with severe electromagnetic field change in the component to be measured, and adopting sparse mesh subdivision in the region with mild electromagnetic field change to obtain an unstructured mesh dispersion three-dimensional offset speed model.
The third step: calculating forward electromagnetic wave field values S of the transmitting points of all the ith transmitting antennas by using an unstructured grid discrete three-dimensional offset velocity modeli(x1，y1，z1，t1) Counter-propagating electromagnetic field value R of receiving point of corresponding receiving antennai(x2，y2，z2，t2) Obtaining a reverse time migration imaging result by the sum I (x, y, z) of the zero-delay cross correlation values; wherein x is1、y1、z1Respectively representing the three-dimensional spatial coordinates of the emission points, t1For positively propagating electromagnetic wave time, x2、y2、z2Three-dimensional spatial coordinates, t, respectively representing the receiving points2For the time of back propagation of electromagnetic waves, x, y and z respectively represent three-dimensional space coordinates of the zero-delay cross-correlation value sum I (x, y and z).
In the embodiment of the invention, the forward electromagnetic wave field value S of the emission point of all the ith transmitting antennas is calculated by using the unstructured grid discrete three-dimensional offset velocity modeli(x1，y1，z1，t1) Counter-propagating electromagnetic field value R of receiving point of corresponding receiving antennai(x2，y2，z2，t2) The step of obtaining the inverse time offset imaging result specifically includes:
calculating forward electromagnetic wave field values S of the transmitting points of all the ith transmitting antennas by using an unstructured grid discrete three-dimensional offset velocity modeli(x1，y1，z1，t1) Counter-propagating electromagnetic field value R of receiving point of corresponding receiving antennai(x2，y2，z2，t2) Zero-delay cross-correlation value ofi(x3，y3，z3) The calculation formula is as follows:
Ii(x3，y3，z3)＝Si(x1，y1，z1，t1)×Ri(x2，y2，z2，t2)；
cross-correlating all zero-delay cross-correlation values Ii(x3，y3，z3) And summing to obtain a zero-delay cross-correlation value sum I (x, y, z) and further obtain an inverse time migration imaging result, wherein the calculation formula of the zero-delay cross-correlation value sum I (x, y, z) is as follows:
In the embodiment of the present invention, the sum I (x, y, z) of the zero-delay cross-correlation values is the superimposed data of the zero-delay cross-correlation values of the multiple transmission sources.
In the embodiment of the invention, the forward electromagnetic wave field value S of the emission point of all the ith transmitting antennas is calculated by using the unstructured grid discrete three-dimensional offset velocity modeli(x1，y1，z1，t1) Counter-propagating electromagnetic field value R of receiving point of corresponding receiving antennai(x2，y2，z2，t2) Zero-delay cross-correlation value ofi(x3，y3，z3) The method specifically comprises the following steps:
calculating forward electromagnetic wave field value S of the emitting point of the ith emitting antenna by using the unstructured grid scattering three-dimensional offset velocity modeli(x1，y1，z1，t1) The calculation formula is as follows:
calculating the counter-propagating electromagnetic wave field value R of the receiving point of the corresponding receiving antenna by using the unstructured grid discrete three-dimensional offset velocity modeli(x2，y2，z2，t2) The calculation formula is as follows:
As an embodiment of the present invention, the method further includes, after the third step:
the fourth step: and carrying out spatial high-pass filtering on the reverse time migration imaging result to obtain a target reverse time migration imaging result.
In the embodiment of the present invention, the spatial high-pass filtering uses filter coefficients as follows:
the reverse time migration imaging method of the ground penetrating radar with the medium frequency dispersion and attenuation compensation considered, provided by the embodiment of the invention, can effectively compensate the frequency dispersion and attenuation of electromagnetic waves generated when the electromagnetic waves are transmitted in an underground medium, and improves the imaging accuracy.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A method for compensating reverse time migration imaging of a ground penetrating radar by considering medium dispersion and attenuation is characterized by comprising the following steps:
acquiring a transmitting signal of an ith transmitting antenna on a component to be detected and an echo signal of a receiving antenna corresponding to the ith transmitting antenna, wherein i is more than or equal to 1, and the transmitting signal comprises transmitting time t1Said echo signal comprising an echo time t2The transmitting antenna is used for transmitting electromagnetic wave signals to the component to be tested, and the receiving antenna is used for receiving echo signals returned by the multi-offset-range ground penetrating radarNumber;
constructing an unstructured grid scattering three-dimensional offset velocity model according to the size and physical properties of the component to be detected;
calculating forward electromagnetic wave field values S of the transmitting points of all the ith transmitting antenna by using the unstructured grid discrete three-dimensional offset velocity modeli(x1，y1，z1，t1) The value R of the counter electromagnetic wave field of the receiving point of the corresponding receiving antennai(x2，y2，z2，t2) Obtaining a reverse time migration imaging result by the sum I (x, y, z) of the zero-delay cross correlation values; wherein,
x1、y1、z1respectively representing the three-dimensional spatial coordinates of the emission points, t1For positively propagating electromagnetic wave time, x2、y2、z2Three-dimensional spatial coordinates, t, respectively representing the receiving points2For the time of back propagation of electromagnetic waves, x, y and z respectively represent three-dimensional space coordinates of the zero-delay cross-correlation value sum I (x, y and z).
2. The method of claim 1, wherein the method further comprises:
and carrying out spatial high-pass filtering on the reverse time migration imaging result to obtain a target reverse time migration imaging result.
3. The method of claim 1, wherein the step of constructing the unstructured grid discretized three-dimensional offset velocity model based on the dimensions and physical properties of the component to be tested specifically comprises:
constructing a three-dimensional offset speed model according to the size and the physical properties of the component to be detected;
and adopting dense mesh subdivision in the region with severe electromagnetic field change in the component to be tested, and adopting sparse mesh subdivision in the region with mild electromagnetic field change to obtain an unstructured mesh dispersion three-dimensional offset speed model.
4. The method of claim 1, wherein the method comprisesCalculating forward electromagnetic wave field values S of the transmitting points of all the ith transmitting antenna by using the unstructured grid discrete three-dimensional offset velocity modeli(x1，y1，z1，t1) The value R of the counter electromagnetic wave field of the receiving point of the corresponding receiving antennai(x2，y2，z2，t2) The step of obtaining the inverse time offset imaging result specifically includes:
calculating forward electromagnetic wave field values S of the transmitting points of all the ith transmitting antenna by using the unstructured grid discrete three-dimensional offset velocity modeli(x1，y1，z1，t1) The value R of the counter electromagnetic wave field of the receiving point of the corresponding receiving antennai(x2，y2，z2，t2) Zero-delay cross-correlation value ofi(x3，y3，z3) The calculation formula is as follows:
Ii(x3，y3，z3)＝Si(x1，y1，z1，t1)×Ri(x2，y2，z2，t2)；
all the zero-delay cross-correlation values Ii(x3，y3，z3) And summing to obtain a zero-delay cross-correlation value sum I (x, y, z) and further obtain an inverse time migration imaging result, wherein the calculation formula of the zero-delay cross-correlation value sum I (x, y, z) is as follows:
5. The method of claim 4, wherein said utilizing said non-junctionStructuring a grid scattering three-dimensional offset velocity model, and calculating forward electromagnetic wave field values S of the transmitting points of all the ith transmitting antennasi(x1，y1，z1，t1) The value R of the counter electromagnetic wave field of the receiving point of the corresponding receiving antennai(x2，y2，z2，t2) Zero-delay cross-correlation value ofi(x3，y3，z3) The method specifically comprises the following steps:
calculating forward electromagnetic wave field value S of the transmitting point of the ith transmitting antenna by using the unstructured grid scattering three-dimensional offset velocity modeli(x1，y1，z1，t1) The calculation formula is as follows:
calculating the reverse electromagnetic wave field value R of the receiving point of the corresponding receiving antenna by using the unstructured grid discrete three-dimensional offset velocity modeli(x2，y2，z2，t2) The calculation formula is as follows:
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| CN115469376A (en) * | 2022-11-14 | 2022-12-13 | 四川省冶勘设计集团有限公司 | Tunnel advanced geological forecast comprehensive detection method and system based on non-homologous data |
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