CN112882019B - Full-polarization target identification and classification method based on rotary monopole ground penetrating radar - Google Patents
Full-polarization target identification and classification method based on rotary monopole ground penetrating radar Download PDFInfo
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- 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
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- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- 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
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Abstract
The invention discloses a full-polarization target identification and classification method based on a rotary monopole ground penetrating radar, which belongs to the field of engineering geological exploration, and comprises the following specific processes: acquiring full polarization scattering matrix data of a target body by utilizing a monopole ground penetrating radar with a rotary monopole antenna; performing feature extraction on the full-polarization scattering matrix data by using an H-alpha decomposition method to obtain scattering feature parameter scattering entropy H and 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 chart, and determining the type of the target body according to the positions of the scattering entropy H and the average scattering angle alpha value distributed in the H-alpha identification chart. The invention can directly upgrade the existing commercial single-polarized ground penetrating radar into the full-polarized 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 accuracy of the ground penetrating radar for detecting, positioning and identifying the linear targets of the pipeline class.
Description
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 monopole ground penetrating radar.
Background
At present, the ground penetrating radar system is widely applied to nondestructive detection and identification of underground targets, but due to the fact that urban underground environments are complex and various, the accurate positioning, identification and classification of underground pipelines by the existing ground penetrating radar system still have great challenges. In general, most of commercial ground penetrating radar systems are monopole radar systems, only monopole data can be obtained, pipeline linear targets and other nonlinear targets (such as culverts and strata) are separated, and only intensity distribution or three-dimensional imaging on two-dimensional sections with different depths can be detected, so that checkerboard two-dimensional data acquisition is required on the ground, which is extremely time-consuming, labor-consuming, high-cost and lack of practicality. Meanwhile, different underground targets generally have different scattering polarization characteristics, the existing identification method of the ground penetrating radar on the target body mainly relies on 3-D data (x, y, t) obtained after 2-D detection to conduct intensity distribution and three-dimensional imaging on different depth tangential planes, but two-dimensional detection is time-consuming, labor-consuming and high in cost, and the mode cannot classify different scattering polarization characteristics.
Along with the acceleration of urban construction pace, underground pipelines and cables are buried in complicated ways due to the fact that the special positions and time span, the variety is various, and especially in the reconstruction process of old urban areas, the influence of unknown pipeline positions on engineering is more serious, so that how to quickly and accurately determine the conditions and the variety of the underground pipelines and the underground cables becomes an important research direction in the field of engineering geological exploration, all-polarization ground penetrating radar data and related signal processing technologies thereof have been proved to be capable of effectively improving target identification and classification precision, but at present, widely used commercial ground penetrating radars are all single-polarization radars, and how to acquire all-polarization radar data by using single-polarization commercial ground penetrating radars is a key problem which needs to be solved urgently.
Disclosure of Invention
The purpose of the invention is that: in order to overcome the defects that the existing unipolar ground penetrating radar system cannot acquire all-polarized data of targets and cannot identify and classify underground pipeline targets, the full-polarized target identification and classification method based on the rotary unipolar ground penetrating radar is provided, and the unipolar commercial ground penetrating radar can be used for acquiring all-polarized radar data to effectively identify and classify underground pipeline targets.
In order to achieve the above purpose, the invention adopts the following technical scheme: the full-polarization target identification and classification method based on the rotary monopole ground penetrating radar is characterized by comprising the following steps of:
step S1: acquiring full polarization scattering matrix data of a target body by utilizing a monopole ground penetrating radar with a rotary monopole antenna;
step S2: performing feature extraction on the full-polarization scattering matrix data in the step S1 by utilizing an H-alpha decomposition method to obtain scattering feature parameter scattering entropy H and average scattering angle alpha for identifying a target body;
step S3: 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 chart, and determining the type of the target body according to the positions of the scattering entropy H and the average scattering angle alpha value distributed in the H-alpha identification chart.
Further, the process of acquiring the full polarization scattering matrix data of the target in step S1 is as follows:
a monopole ground penetrating radar of a rotary monopole antenna is arranged on the ground surface right above an underground target body;
rotating a monopole antenna of the monopole ground penetrating radar by any three angles, taking the rotation center of the monopole antenna as a coordinate origin, and establishing a ground surface measurement coordinate system (x, y, z) at the ground position right above a target body, wherein the three directions of the monopole antenna are respectively theta relative to the horizontal rotation angle of the x axis of the ground surface measurement coordinate system 1 、θ 2 、θ 3 The method comprises the steps of carrying out a first treatment on the surface of the Direction setting sheetBit vectorIs the polarization direction of the monopole antenna; let the cross-polarization of the monopole antenna be c +.>The expression is as follows:
wherein θ is the horizontal rotation angle of the monopole antenna with respect to the x-axis relative to the earth's surface measurement coordinate system, i.e., the direction of the monopole antenna, θ is θ 1 、θ 2 Or theta 3 ；
Let the scattering matrix of the subsurface target in the local coordinate system (x ', y ', z ') centered on the subsurface target be s x′y′z′ ，
S x'y'z' ＝RD (2)
Where R is the coordinate rotation matrix and D is the characteristic diagonal scattering matrix in the object's intrinsic coordinate system (u, v, w), expressed as:
wherein sigma uu 、σ vv Sum sigma ww Characteristic values of the target body scattering matrix in three coordinate axis directions in a target body coordinate system are respectively represented;
the coordinate system (x ', y ', z ') of the target body and the earth surface measurement coordinate system (x, y, z) right above the target body are in a translation relationship;
calibrated scattering matrix s observed on the single polarized ground penetrating radar xyz I.e. target scattering matrix and s x′y′z′ The same, namely:
since the single polarized antenna is only in the x-y plane, i.e. on the ground, s in equation (4) xyz The z-component of (2) is zero, so that the scattering matrix to be measured, i.e. the object volume scattering matrix s xyz Having only two dimensions s xyz Abbreviated as s, namely:
from the formulas (2) and (3), s is known to be due to reciprocity xy ＝s yx The scatter data M collected from the monopole antenna direction, after calibration, is represented as follows:
substituting the expression (1) and the expression (5) into the expression (6) can obtain the expression of the monopole antenna along the measurement direction of any angle theta:
the single polarized measured scatter data for three arbitrary different single polarized antenna directions are:
M 1 ＝M(θ 1 ),M 2 ＝M(θ 2 ),M 3 ＝M(θ 3 )；
knowing the cross-polarization c of the monopole antenna, through M 1 、M 2 And M 3 Can obtain the required target full polarization scattering parameter s xx 、s yy Sum s xy Thereby obtaining the full polarization scattering matrix data of the target body
Through the design scheme, the invention has the following beneficial effects:
1. according to the full-polarization target identification and classification method based on the rotary monopole ground penetrating radar, full-polarization data are acquired based on the single-polarization radar, an H-alpha identification technology is fused, polarization properties of pipelines and cables in shallow underground anisotropic media are extracted, and identification and classification precision of the pipelines and the cables in underground complex media is improved.
2. According to the full-polarization target identification and classification method based on the rotary monopole ground penetrating radar, which is provided by the invention, the monopole ground penetrating radar with the rotary monopole antenna is used for acquiring the full-polarization data of the target body, so that the target body scattering matrix error 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.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a undue limitation of the invention, and in which:
fig. 1 is a top view of a monopole antenna in three directions;
FIG. 2 is a coordinate transformation correspondence diagram of a target object coordinate system and a surface measurement coordinate system directly above the target object;
FIG. 3 is a graph of the effect of estimation errors on the S-matrix components of linear scattering at different cross-polarization intensities;
fig. 4 is a graph of the effect of estimation errors on the S-matrix component of double reflection surface scattering at different cross-polarization intensities.
Fig. 5 shows the distribution of the scattering entropy H and the average scattering angle α of the target object 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 monopole ground penetrating radar, which can directly upgrade the conventional commercial monopole ground penetrating radar into the full-polarization ground penetrating radar under the condition of not changing the conventional ground penetrating radar equipment or increasing the equipment cost, thereby improving the efficiency and accuracy of the ground penetrating radar on pipeline linear target detection, positioning and identification and classification.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a full-polarization target identification and classification method based on a rotary monopole ground penetrating radar, which comprises the following steps:
step S1: acquiring full polarization scattering matrix data of a target body by utilizing a monopole ground penetrating radar with a rotary monopole antenna;
the specific process is as follows:
arranging a monopole ground penetrating radar with a rotary monopole antenna on the ground surface right above an underground target body;
rotating a monopole antenna of the monopole ground penetrating radar by any three angles, taking the rotation center of the monopole antenna as a coordinate origin, and establishing a ground surface measurement coordinate system (x, y, z) at the ground position right above a target body, wherein the three directions of the monopole antenna are respectively theta relative to the horizontal rotation angle of the x axis of the ground surface measurement coordinate system 1 、θ 2 、θ 3 The method comprises the steps of carrying out a first treatment on the surface of the Set direction unit vectorIs the polarization direction of the monopole antenna; as shown in fig. 1, fig. 1 shows a top view of a monopole antenna in three directions, wherein (a), (b) and (c) respectively correspond to three reverse top views of the monopole antenna;
assuming that the cross polarization of the monopole antenna is c, thenThe expression is as follows:
wherein θ is the horizontal rotation angle of the monopole antenna with respect to the x-axis relative to the earth's surface measurement coordinate system, i.e., the direction of the monopole antenna, θ is θ 1 、θ 2 Or theta 3 ；
Let the scattering matrix of the subsurface target in the local coordinate system (x ', y ', z ') centered on the subsurface target be s x′y′z′ ，
S x'y'z' ＝RD (2)
Where R is the coordinate rotation matrix and D is the characteristic diagonal scattering matrix in the object's intrinsic coordinate system (u, v, w), expressed as:
wherein sigma uu 、σ vv Sum sigma ww Characteristic values of the target body scattering matrix in three coordinate axis directions in a target body coordinate system are respectively represented;
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;
calibrated scattering matrix s observed on the single polarized ground penetrating radar xyz I.e. target scattering matrix and s x′y′z′ The same, namely:
because the single polarized antenna is only in the x-y plane, i.e. on the ground, s in equation (4) xyz The z-component of (2) is zero, so that the scattering matrix to be measured, i.e. the object volume scattering matrix s xyz Has only two dimensions, s for convenience of description xyz Abbreviated as s, namely:
is represented by the formulas (2) and (3)It can be seen that s due to reciprocity xy ＝s yx The scattering data M collected from the monopole antenna direction after calibration can be expressed as follows:
substituting the expression (1) and the expression (5) into the expression (6) can obtain the expression of the monopole antenna along the measurement direction of any angle theta:
the single polarized measured scatter data for three arbitrary different single polarized antenna directions are:
M 1 ＝M(θ 1 ),M 2 ＝M(θ 2 ),M 3 ＝M(θ 3 )；
knowing the cross-polarization c of the monopole antenna, through M 1 、M 2 And M 3 Can obtain the required target full polarization scattering parameter s xx 、s yy Sum s xy Thereby obtaining the full polarization scattering matrix data of the target body
For example: θ 1 ＝0°，θ 2 ＝45°，θ 3 ＝90°；
From the formulas (8), (9) and (10), it is obtained:
(11) The second and third terms to the right of equations (12) and (13) correspond to higher order terms introduced by the presence of the cross-polarized intensity c of the monopole antenna. In the special case of negligible cross-polarization components, i.e. c < 1, then equations (11), (12) and (13) are simplified to:
if the components of the target volume scattering matrix s are estimated using the equations (14), (15) and (16), without considering the influence of c, an estimation error is defined:
to quantitatively investigate the effect of these errors, FIGS. 3 and 4 plot ΔS at different c values for two typical depolarizing target types of ideal linear scattering and ideal double reflection surfaces (ideal linear scattering and ideal double reflection surfaces) xx 、ΔS yy And DeltaS xy Values are detailed in table 1;
linear target volume scattering matrix:
double-reflector target volume scattering matrix:
TABLE 1
Maximum allowable cross-polarization intensity of antenna to maintain S of formulas (17) - (19) xx 、S yy And S is xy Linear and dual-reflecting surface targets with component estimation errors below 0.1 and 0.01
FIG. 3 shows a plot of the effect of estimation errors for linearly scattered S-matrix components at different cross-polarization intensities; fig. 4 shows a graph of the effect of estimation errors of the S-matrix component of double reflection surface scattering at different cross-polarization intensities.
Step S2: performing feature extraction on the full-polarization scattering matrix data in the step S1 by utilizing an H-alpha decomposition method to obtain scattering feature parameter scattering entropy H and average scattering angle alpha for identifying a target body;
the characteristic extraction is carried out on the full-polarization scattering moment data by utilizing an H-alpha decomposition method to obtain scattering characteristic parameter scattering entropy H and average scattering angle alpha for identifying the target body; the method belongs to the prior art, the specific process is detailed in China, the research of the H-alpha characteristic decomposition technology of the well-polarized ground penetrating radar is shown in China, and the known method, process and flow are not repeated in detail in 2016 in order to avoid confusing the essence of the invention.
Step S3: 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 chart, and determining the type of the target body according to the positions of the scattering entropy H and the average scattering angle alpha value distributed in the H-alpha identification chart.
As shown in fig. 5, if the scattering entropy H and the average scattering angle α value of the scattering target are distributed in the area where the double-reflecting-surface target of the H- α identification chart is located, it can be determined that such scattering is dihedral scattering, for example: fault or cutting; if the scattering entropy H and the average scattering angle α value of the scattering target volume are distributed over the area of the linear target volume, such scattering can be determined to be linear target volume scattering, for example: cables, pipes, non-explosive charges UXO, etc. Similarly, if the scattering entropy H and the average scattering angle α value of the scattering target are distributed in the region where the spherically symmetric target is located, such scattering can be determined to be spherically symmetric target scattering, for example: ground, stratum.
In summary, the target coordinate system in the present invention may be arbitrarily selected, because the final characteristic scattering matrix is usually obtained by diagonalizing or decomposing the matrix, and then performing all-polarized target recognition and classification, for example: entropy-based H-alpha decomposition method.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
According to the invention, the detection efficiency and the identification and classification accuracy of the pipeline position in the underground inhomogeneous medium are greatly improved through the theoretical algorithm for acquiring the full polarization data by the rotary type single-polarized radar and the related full polarization data analysis method.
Claims (1)
1. The full-polarization target identification and classification method based on the rotary monopole ground penetrating radar is characterized by comprising the following steps of:
step S1: acquiring full polarization scattering matrix data of a target body by utilizing a monopole ground penetrating radar with a rotary monopole antenna;
step S2: performing feature extraction on the full-polarization scattering matrix data in the step S1 by utilizing an H-alpha decomposition method to obtain scattering feature parameter scattering entropy H and average scattering angle alpha for identifying a target body;
step S3: 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 chart, and determining the type of the target body according to the positions of the scattering entropy H and the average scattering angle alpha value distributed in the H-alpha identification chart;
the process of acquiring the full polarization scattering matrix data of the target in step S1 is as follows:
a monopole ground penetrating radar of a rotary monopole antenna is arranged on the ground surface right above an underground target body;
rotating a monopole antenna of the monopole ground penetrating radar by any three angles, taking the rotation center of the monopole antenna as a coordinate origin, and establishing a ground surface measurement coordinate system (x, y, z) at the ground position right above a target body, wherein the three directions of the monopole antenna are respectively theta relative to the horizontal rotation angle of the x axis of the ground surface measurement coordinate system 1 、θ 2 、θ 3 The method comprises the steps of carrying out a first treatment on the surface of the Set direction unit vectorIs the polarization direction of the monopole antenna; let the cross-polarization of the monopole antenna be c +.>The expression is as follows:
wherein θ is the horizontal rotation angle of the monopole antenna with respect to the x-axis relative to the earth's surface measurement coordinate system, i.e., the direction of the monopole antenna, θ is θ 1 、θ 2 Or theta 3 ；
Let S be the scattering matrix of the subsurface target in a local coordinate system (x ', y ', z ') centered on the subsurface target x'y'z' ，
S x'y'z' ＝RD (2)
Where R is the coordinate rotation matrix and D is the characteristic diagonal scattering matrix in the object's intrinsic coordinate system (u, v, w), expressed as:
wherein sigma uu 、σ vv Sum sigma ww Characteristic values of the target body scattering matrix in three coordinate axis directions in a target body coordinate system are respectively represented;
the coordinate system (x ', y ', z ') of the target body and the earth surface measurement coordinate system (x, y, z) right above the target body are in a translation relationship;
calibration scattering matrix S observed on the single polarized ground penetrating radar xyz I.e. target scattering matrix and S x′y′z′ The same, namely:
since the single polarized antenna is only on the x-y plane, i.e. on the ground, S in equation (4) xyz The z-component of (2) is zero, so that the scattering matrix to be measured, i.e. the object bulk scattering matrix S xyz With only two dimensions, S xyz Abbreviated as S, namely:
from the formulas (2) and (3), S is due to reciprocity xy ＝S yx The scatter data M collected from the monopole antenna direction, after calibration, is represented as follows:
substituting the expression (1) and the expression (5) into the expression (6) can obtain the expression of the monopole antenna along the measurement direction of any angle theta:
the single polarized measured scatter data for three arbitrary different single polarized antenna directions are:
M 1 ＝M(θ 1 ),M 2 ＝M(θ 2 ),M 3 ＝M(θ 3 )；
knowing the cross-polarization c of the monopole antenna, through M 1 、M 2 And M 3 Can obtain the required target full polarization scattering parameter S xx 、S yy And S is xy Thereby obtaining the full polarization scattering matrix data of the target body
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