CN112882019A - Full-polarization target identification and classification method based on rotary single-polarization ground penetrating radar - Google Patents

Full-polarization target identification and classification method based on rotary single-polarization ground penetrating radar Download PDF

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CN112882019A
CN112882019A CN202110047241.1A CN202110047241A CN112882019A CN 112882019 A CN112882019 A CN 112882019A CN 202110047241 A CN202110047241 A CN 202110047241A CN 112882019 A CN112882019 A CN 112882019A
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于月
曹艳玲
岳巾英
刘天航
刘莹
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Changchun Institute of Applied Chemistry of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/006—Theoretical aspects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/418—Theoretical aspects

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Abstract

The invention discloses a full-polarization target identification and classification method based on a rotary single-polarization ground penetrating radar, belonging to the field of engineering geological exploration, and the method comprises the following specific processes: acquiring full-polarization scattering matrix data of a target body by using a single-polarization ground penetrating radar with a rotary single-polarization antenna; performing feature extraction on the fully polarized scattering matrix data by using an H-alpha decomposition method to obtain scattering feature parameter scattering entropy H and an average scattering angle alpha for identifying a target body; and comparing the scattering entropy H and the average scattering angle alpha value of the target body with the existing H-alpha identification map, and determining the type of the target body according to the distribution positions of the scattering entropy H and the average scattering angle alpha value in the H-alpha identification map. The invention can directly upgrade the existing commercial single-polarization ground penetrating radar into the full-polarization ground penetrating radar under the condition of not changing the existing ground penetrating radar equipment or increasing the equipment cost, thereby improving the efficiency and the accuracy of the ground penetrating radar in detecting, positioning, identifying and classifying the pipeline linear target.

Description

Full-polarization target identification and classification method based on rotary single-polarization ground penetrating radar
Technical Field
The invention belongs to the field of engineering geological exploration, and particularly relates to a full-polarization target identification and classification method based on a rotary single-polarization ground penetrating radar.
Background
At present, a ground penetrating radar system is widely applied to nondestructive detection and identification of underground targets, but due to the complex and various urban underground environments, the accurate positioning and identification and classification of underground pipelines by the existing ground penetrating radar system still have great challenges. Generally speaking, most of commercial ground penetrating radar systems are single-polarization radar systems, which only can obtain single-polarization data, and separate a pipeline linear target from other non-linear targets (such as culverts, strata and the like), and only can rely on detecting intensity distribution or three-dimensional imaging on two-dimensional sections of different depths, so that chessboard-type two-dimensional data acquisition needs to be performed on the ground, which is time-consuming, labor-consuming, high in cost and lack of practicability. Meanwhile, different underground targets generally have different scattering polarization characteristics, the existing method for identifying the target body by the ground penetrating radar mainly depends on 3-D data (x, y, t) obtained after 2-D detection to carry out intensity distribution and three-dimensional imaging on sections of different depths, but the two-dimensional detection is time-consuming, labor-consuming and high in cost, and the method cannot classify different scattering polarization characteristics.
With the speed of urban construction, underground pipelines and cables are complicated and complicated to bury and have various varieties due to special positions and time span of the underground pipelines and cables, and particularly in the reconstruction process of old urban areas, the influence of unclear pipeline positions on engineering is more serious, so that how to quickly and accurately determine the conditions and the varieties of the underground pipelines and the underground cables becomes an important research direction in the field of engineering geological exploration.
Disclosure of Invention
The purpose of the invention is: in order to overcome the defects that the existing single-polarization ground penetrating radar system cannot acquire full-polarization data of targets and cannot identify and classify underground pipeline targets, the full-polarization target identification and classification method based on the rotary single-polarization ground penetrating radar is provided, and single-polarization commercial ground penetrating radar can be used for acquiring full-polarization radar data and effectively identifying and classifying the underground pipeline targets.
In order to achieve the purpose, the invention adopts the following technical scheme: the full-polarization target identification and classification method based on the rotary single-polarization ground penetrating radar is characterized by comprising the following steps of:
step S1: acquiring full-polarization scattering matrix data of a target body by using a single-polarization ground penetrating radar with a rotary single-polarization antenna;
step S2: performing feature extraction on the fully polarized scattering matrix data in the step S1 by using an H-alpha decomposition method to obtain scattering feature parameter scattering entropy H and an average scattering angle alpha for identifying a target body;
step S3: and comparing the scattering entropy H and the average scattering angle alpha value of the target body obtained in the step S2 with the existing H-alpha identification map, and determining the type of the target body according to the distribution positions of the scattering entropy H and the average scattering angle alpha value in the H-alpha identification map.
Further, the process of acquiring the fully polarized scattering matrix data of the target body in step S1 is as follows:
a single-polarization ground penetrating radar of a rotary single-polarization antenna is distributed on the ground surface right above an underground target body;
rotating the single-polarized antenna of the single-polarized ground penetrating radar by any three angles, taking the rotation center of the single-polarized antenna as a coordinate origin, establishing a ground surface measurement coordinate system (x, y, z) at the ground right above a target body, and respectively setting the three directions of the single-polarized antenna to be theta relative to the horizontal rotation angle of the x axis of the ground surface measurement coordinate system1、θ2、θ3(ii) a Unit vector of set direction
Figure BDA0002897755800000021
Is the polarization direction of a single-polarized antenna; assuming that the cross-polarization intensity of the single-polarized antenna is c, then
Figure BDA0002897755800000022
Is represented as follows:
Figure BDA0002897755800000023
where θ is the horizontal rotation angle of the monopole antenna relative to the x-axis relative to the Earth's surface survey coordinate system, i.e., the direction of the monopole antenna, and θ is θ1、θ2Or theta3；
Let s be the scattering matrix of the subsurface target in a local coordinate system (x ', y ', z ') centered on the subsurface targetx′y′z′，
Sx'y'z'＝RD (2)
Where R is the coordinate rotation matrix and D is the characteristic diagonal scattering matrix in the object's native coordinate system (u, v, w) and is expressed as:
Figure BDA0002897755800000031
wherein sigmauu、σvvAnd σwwRespectively representing characteristic values of the scattering matrix of the target body in three coordinate axis directions in a target body coordinate system;
the target body coordinate system (x ', y ', z ') and a ground surface measurement coordinate system (x, y, z) right above the target body are in a translation relation;
a calibration scattering matrix s observed on the single-polarized ground penetrating radarxyzI.e. the scattering matrix of the object and sx′y′z′The same, namely:
Figure BDA0002897755800000032
since the monopole antenna is only on the x-y plane, i.e., the ground, s in equation (4)xyzIs zero, so that the scattering matrix being measured, i.e. the target scattering matrix sxyzHaving only two dimensions, sxyzAbbreviated s, i.e.:
Figure BDA0002897755800000033
as is clear from the formulas (2) and (3), s is a reciprocalxy＝syxThe scattering data M, calibrated, collected from a single-polarized antenna direction, is represented as follows:
Figure BDA0002897755800000041
substituting equations (1) and (5) into equation (6), the expression of the monopole antenna along the measurement direction of the arbitrary angle θ can be obtained as follows:
Figure BDA0002897755800000042
then the single polarization measurement scattering data for three arbitrary different single polarization antenna directions are:
M1＝M(θ1),M2＝M(θ2),M3＝M(θ3)；
knowing the cross-polarization c of a single-polarized antenna, by M1、M2And M3The required target complete polarization scattering parameter s can be obtainedxx、syyAnd sxyAnd then obtaining the all-polarization scattering matrix data of the target body
Figure BDA0002897755800000043
Through the design scheme, the invention can bring the following beneficial effects:
1. the invention provides a full-polarization target identification and classification method based on a rotary single-polarization ground penetrating radar.
2. According to the full-polarization target identification and classification method based on the rotary single-polarization ground penetrating radar, the full-polarization data of the target body is obtained through the single-polarization ground penetrating radar with the rotary single-polarization antenna, the scattering matrix error of the target body caused by the cross polarization item of the antenna can be reduced, and the accuracy of detecting and positioning the pipeline linear target is improved.
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The accompanying drawings, which are included to provide a further understanding of the invention and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limitation and are not intended to limit the invention in any way, and in which:
FIG. 1 is a top view of a single polarized antenna in three directions;
FIG. 2 is a diagram of a coordinate transformation mapping relationship between a target coordinate system and a surface measurement coordinate system directly above the target;
FIG. 3 is a diagram illustrating the effect of estimation errors of the S matrix components of linear scattering at different cross-polarization intensities;
FIG. 4 is a diagram illustrating the effect of the estimation error of the S matrix component scattered by the double reflecting surfaces under different cross polarization strengths.
Fig. 5 shows the distribution of the scattering entropy H and the average scattering angle α of the target in the H- α identification chart.
Detailed Description
The invention provides a complex medium full-polarization target identification and classification method based on a rotary single-polarization ground penetrating radar, which can directly upgrade the existing commercial single-polarization ground penetrating radar into the full-polarization ground penetrating radar under the condition of not changing the existing ground penetrating radar equipment or increasing the equipment cost, thereby improving the efficiency and the accuracy of the ground penetrating radar in detecting, positioning and identifying and classifying pipeline linear targets.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a full-polarization target identification and classification method based on a rotary single-polarization ground penetrating radar, which comprises the following steps:
step S1: acquiring full-polarization scattering matrix data of a target body by using a single-polarization ground penetrating radar with a rotary single-polarization antenna;
the specific process is as follows:
a single-polarization ground penetrating radar with a rotary single-polarization antenna is distributed on the ground surface right above an underground target body;
rotating the single-polarized antenna of the single-polarized ground penetrating radar by any three angles, taking the rotation center of the single-polarized antenna as a coordinate origin, establishing a ground surface measurement coordinate system (x, y, z) at the ground right above a target body, and respectively setting the three directions of the single-polarized antenna to be theta relative to the horizontal rotation angle of the x axis of the ground surface measurement coordinate system1、θ2、θ3(ii) a Unit vector of set direction
Figure BDA0002897755800000061
Is the polarization direction of a single-polarized antenna; as shown in fig. 1, fig. 1 shows a top view of a single-polarized antenna in three directions, in which (a), (b), and (c) correspond to three opposite top views of the single-polarized antenna, respectively;
assuming that the cross-polarization intensity of the single-polarized antenna is c, then
Figure BDA0002897755800000062
Is represented as follows:
Figure BDA0002897755800000063
where θ is the horizontal rotation angle of the monopole antenna relative to the x-axis relative to the Earth's surface survey coordinate system, i.e., the direction of the monopole antenna, and θ is θ1、θ2Or theta3；
Let s be the scattering matrix of the subsurface target in a local coordinate system (x ', y ', z ') centered on the subsurface targetx′y′z′，
Sx'y'z'＝RD (2)
Where R is the coordinate rotation matrix and D is the characteristic diagonal scattering matrix in the object's native coordinate system (u, v, w) and is expressed as:
Figure BDA0002897755800000064
wherein sigmauu、σvvAnd σwwRespectively representing characteristic values of the scattering matrix of the target body in three coordinate axis directions in a target body coordinate system;
as shown in fig. 2, the target coordinate system (x ', y', z ') is in a translational relationship with the earth's surface measurement coordinate system (x, y, z) directly above the target;
a calibration scattering matrix s observed on the single-polarized ground penetrating radarxyzI.e. the scattering matrix of the object and sx′y′z′The same, namely:
Figure BDA0002897755800000071
since the monopole antenna is only in the x-y plane, i.e., the ground, s in equation (4)xyzIs zero, so that the scattering matrix being measured, i.e. the target scattering matrix sxyzOnly two dimensions, for convenience, sxyzAbbreviated s, i.e.:
Figure BDA0002897755800000072
is composed of (2)) As can be seen from the formulae (1) and (3), s isxy＝syxThe calibrated scattering data M collected from the single-polarized antenna direction can be expressed as follows:
Figure BDA0002897755800000073
substituting equations (1) and (5) into equation (6), the expression of the monopole antenna along the measurement direction of the arbitrary angle θ can be obtained as follows:
Figure BDA0002897755800000081
then the single polarization measurement scattering data for three arbitrary different single polarization antenna directions are:
M1＝M(θ1),M2＝M(θ2),M3＝M(θ3)；
knowing the cross-polarization c of a single-polarized antenna, by M1、M2And M3The required target complete polarization scattering parameter s can be obtainedxx、syyAnd sxyAnd then obtaining the all-polarization scattering matrix data of the target body
Figure BDA0002897755800000082
For example: theta1＝0°，θ2＝45°，θ3＝90°；
Figure BDA0002897755800000083
Figure BDA0002897755800000084
Figure BDA0002897755800000085
From the formulae (8), (9) and (10), there are obtained:
Figure BDA0002897755800000086
Figure BDA0002897755800000087
Figure BDA0002897755800000091
(11) the second and third terms on the right side of the equations (12) and (13) correspond to the higher order terms introduced by the presence of the cross-polarization c of the single-polarized antenna. In the special case where the cross-polarization component can be ignored, i.e., c < 1, then equations (11), (12), and (13) are simplified as:
Figure BDA0002897755800000092
Figure BDA0002897755800000093
Figure BDA0002897755800000094
if the components of the target volume scattering matrix s are estimated using equations (14), (15), and (16), without considering the influence of c, an estimation error is defined:
Figure BDA0002897755800000095
Figure BDA0002897755800000096
Figure BDA0002897755800000097
to quantitatively investigate the effect of these errors, FIGS. 3 and 4 plot Δ S at different c-values for two typical depolarization target types, ideal linear scatter and ideal dual reflector (ideal linear scatter and ideal dual reflector)xx、ΔSyyAnd Δ SxyValues, detailed in table 1;
linear target scattering matrix:
Figure BDA0002897755800000098
double reflector target scattering matrix:
Figure BDA0002897755800000101
TABLE 1
Maximum allowable cross-polarization of the antenna to maintain S of equations (17) - (19)xx、SyyAnd SxyLinear and dual reflector targets with component estimation errors below 0.1 and 0.01
Figure BDA0002897755800000102
FIG. 3 is a graph showing the effect of estimation errors for linearly scattered S-matrix components at different cross-polarization intensities; fig. 4 shows a diagram of the effect of estimation errors of the S matrix components of the scattering of the dual reflecting surfaces at different cross-polarization intensities.
Step S2: performing feature extraction on the fully polarized scattering matrix data in the step S1 by using an H-alpha decomposition method to obtain scattering feature parameter scattering entropy H and an average scattering angle alpha for identifying a target body;
the method comprises the following steps of performing feature extraction on the fully polarized scattering moment data by using an H-alpha decomposition method to obtain scattering feature parameter scattering entropy H and an average scattering angle alpha for identifying a target body; the method belongs to the prior art, and the specific process is detailed in China-known network, a academic position theory library, research on a fully-polarized ground penetrating radar H-alpha characteristic decomposition technology, Jilin university, 2016.
Step S3: and comparing the scattering entropy H and the average scattering angle alpha value of the target body obtained in the step S2 with the existing H-alpha identification map, and determining the type of the target body according to the distribution positions of the scattering entropy H and the average scattering angle alpha value in the H-alpha identification map.
As shown in fig. 5, if the scattering entropy H and the average scattering angle α of the scattering target are distributed in the region band where the dual-reflector target of the H- α identification diagram is located, it can be determined that such scattering is dihedral scattering, for example: a fault or cutting; if the scattering entropy H and the average scattering angle α of the scattering target are distributed in the region band where the linear target is located, it can be determined that such scattering is linear target scattering, for example: cables, pipes, unexploded bombs UXO, etc. Similarly, if the scattering entropy H and the average scattering angle α of the scattering target are distributed in the area where the spherical symmetric target is located, it can be determined that such scattering is spherical symmetric target scattering, for example: surface, earth formation.
In summary, the target coordinate system of the present invention can be arbitrarily selected, because the final characteristic scattering matrix is usually obtained by matrix diagonalization or decomposition, and then the identification and classification of the fully polarized target are performed, such as: an entropy-based H-alpha decomposition method.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
The invention obtains the theory algorithm of the full polarization data through the rotary single polarization radar and the related full polarization data analysis method, thereby greatly improving the detection efficiency and the identification and classification accuracy of the pipeline position in the underground inhomogeneous medium.

Claims (2)

1. The full-polarization target identification and classification method based on the rotary single-polarization ground penetrating radar is characterized by comprising the following steps of:
step S1: acquiring full-polarization scattering matrix data of a target body by using a single-polarization ground penetrating radar with a rotary single-polarization antenna;
step S2: performing feature extraction on the fully polarized scattering matrix data in the step S1 by using an H-alpha decomposition method to obtain scattering feature parameter scattering entropy H and an average scattering angle alpha for identifying a target body;
step S3: and comparing the scattering entropy H and the average scattering angle alpha value of the target body obtained in the step S2 with the existing H-alpha identification map, and determining the type of the target body according to the distribution positions of the scattering entropy H and the average scattering angle alpha value in the H-alpha identification map.
2. The method for identifying and classifying the fully polarized targets based on the rotary single-polarized ground penetrating radar according to claim 1, wherein the step S1 of obtaining the fully polarized scattering matrix data of the target is as follows:
a single-polarization ground penetrating radar of a rotary single-polarization antenna is distributed on the ground surface right above an underground target body;
rotating the single-polarized antenna of the single-polarized ground penetrating radar by any three angles, taking the rotation center of the single-polarized antenna as a coordinate origin, establishing a ground surface measurement coordinate system (x, y, z) at the ground right above a target body, and respectively setting the three directions of the single-polarized antenna to be theta relative to the horizontal rotation angle of the x axis of the ground surface measurement coordinate system1、θ2、θ3(ii) a Unit vector of set direction
Figure FDA0002897755790000011
Is the polarization direction of a single-polarized antenna; assuming that the cross-polarization intensity of the single-polarized antenna is c, then
Figure FDA0002897755790000012
Is represented as follows:
Figure FDA0002897755790000013
where θ is the horizontal rotation angle of the monopole antenna relative to the x-axis relative to the Earth's surface survey coordinate system, i.e., the direction of the monopole antenna, and θ is θ1、θ2Or theta3；
Let S be the scattering matrix of the subsurface target in a local coordinate system (x ', y ', z ') centered on the subsurface targetx′y′z′，
Sx'y'z'＝RD (2)
Where R is the coordinate rotation matrix and D is the characteristic diagonal scattering matrix in the object's native coordinate system (u, v, w) and is expressed as:
Figure FDA0002897755790000021
wherein sigmauu、σvvAnd σwwRespectively representing characteristic values of the scattering matrix of the target body in three coordinate axis directions in a target body coordinate system;
the target body coordinate system (x ', y ', z ') and a ground surface measurement coordinate system (x, y, z) right above the target body are in a translation relation;
a calibration scattering matrix S observed on the single-polarized ground penetrating radarxyzI.e. the scattering matrix of the object and Sx′y′z′The same, namely:
Figure FDA0002897755790000022
since the monopole antenna is only on the x-y plane, i.e., the ground, S in equation (4)xyzIs zero, so that the scattering matrix being measured, i.e. the target scattering matrix SxyzHaving only two dimensions, SxyzAbbreviated S, i.e.:
Figure FDA0002897755790000031
as is clear from the formulas (2) and (3), S is a linear transformation due to reciprocityxy＝SyxThe scattering data M, calibrated, collected from a single-polarized antenna direction, is represented as follows:
Figure FDA0002897755790000032
substituting equations (1) and (5) into equation (6), the expression of the monopole antenna along the measurement direction of the arbitrary angle θ can be obtained as follows:
Figure FDA0002897755790000033
then the single polarization measurement scattering data for three arbitrary different single polarization antenna directions are:
M1＝M(θ1),M2＝M(θ2),M3＝M(θ3)；
knowing the cross-polarization c of a single-polarized antenna, by M1、M2And M3The required target complete polarization scattering parameter S can be obtainedxx、SyyAnd SxyAnd then obtaining the all-polarization scattering matrix data of the target body
Figure FDA0002897755790000034
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