Method and system for identification of subterranean objects

• US 6,590,519 B2
• Filed: 03/09/2001
• Issued: 07/08/2003
• Est. Priority Date: 12/22/1999
• Status: Expired due to Fees

• Current Assignee: Hot/Shot Infrared Inspections, Inc.
• Original Assignee: Hot/Shot Radar Inspections, LLC
• Inventors: Miceli, Gilbert F., Parisi, Michael
• Primary Examiner(s): Gregory, Bernarr E.
• Application Number:
  US09/803,397
• Publication Number:
  US 20010035836A1
• Time in Patent Office: 851 Days
• Field of Search: 342/21, 342/22, 342/25, 342/27, 342/28, 342/175, 342/190-197, 342/357-1-3, 342/52-58, 342/1-12, 342/61-75, 342/89, 342/118, 342/147, 342/162, 342/165, 342/166-174, 342/450-465, 701/200, 701/207, 701/208-216, 324/337, 324/642, 345/440
• US Class Current: 342/22
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/88 Radar or analogous systems specially adapted for specific applications electromagnetic prospecting or detecting of objects, e.g. near-field detection, G01V3/00
• CPC Class Codes: G01S 13/885 for ground probing prospecting or detecting using electromagnetic waves G01V3/12
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: G01S 13/895 Side looking radar [SLR]
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/412 based on a comparison between measured values and known or stored values
• CPC Class Codes: G01V 11/00 Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00

Abstract

A radar source is configured on a vehicle, which may be an airborne vehicle such as a helicopter. An arrangement of at least one computer system is provided in communication with the radar source and configured to accept instructions from an operator and to operate the radar source. As the vehicle moves in the vicinity of a subterranean volume along a navigation path, a radar signal is propagated with the radar source into the subterranean volume. A reflected radar signal from a subterranean object within the subterranean volume is received. Physical characteristics of the subterranean object are ascertained from the reflected radar signal.

Claims

1. A method for analyzing a subterranean volume, the method comprising:

imaging a ground surface of the subterranean volume;

propagating a radar signal from an airborne vehicle into the subterranean volume as the airborne vehicle moves along a navigation path;

receiving a reflected radar signal from a subterranean object within the subterranean volume;

ascertaining physical characteristics of the subterranean object from the reflected radar signal; and

identifying the subterranean object from the ascertained physical characteristics.

2. The method recited in claim 1 wherein the radar signal has a frequency between 100 MHz and 2 GHz.

3. The method recited in claim 1 further comprising determining a location for the subterranean object.

4. The method recited in claim 3 wherein determining the location for the subterranean object comprises mapping a ground surface of the subterranean volume.

5. The method recited in claim 4 wherein mapping a ground surface of the subterranean volume comprises ascertaining longitude and latitude positions for the subterranean object with a global positioning system (GPS).

6. The method recited in claim 5 wherein mapping the ground surface of the subterranean volume comprises reflecting a laser signal.

7. The method recited in claim 1 further comprising measuring motion of the airborne vehicle with an inertial measurement unit, wherein ascertaining physical characteristics of the subterranean object from the reflected radar signal comprises compensating for the motion of the airborne vehicle as measured by the inertial measurement unit.

8. The method recited in claim 1 wherein imaging the ground surface comprises:

detecting infrared radiation from the ground surface; and

correlating the detected infrared radiation with the reflected radar signal.

9. The method recited in claim 8 wherein the detected infrared radiation has a wavelength between 3 and 5 μ

m.

10. The method recited in claim 8 wherein the detected infrared radiation has a wavelength between 8 and 12 μ

m.

11. The method recited in claim 1 wherein imaging the ground surface comprises:

detecting visible-wavelength electromagnetic radiation from the ground surface;

digitizing a signal from the detected visible-wavelength electromagnetic radiation; and

correlating the digitized signal with the reflected radar signal.

12. The method recited in claim 1 further comprising detecting the subterranean object with a magnetometer.

13. The method recited in claim 1 further comprising detecting hydrocarbon emission from the subterranean object.

14. The method recited in claim 1 wherein identifying the subterranean object comprises evaluating whether the subterranean object contains a structural anomaly by comparing its ascertained physical characteristics with expected characteristics.

15. The method recited in claim 14 wherein evaluating whether the subterranean object contains a structural anomaly comprises ascertaining a location of any such structural anomaly.

16. The method recited in claim 14 wherein the subterranean object is a portion of an underground pipeline.

17. The method recited in claim 1 wherein the subterranean object comprises unexploded ordnance.

18. The method recited in claim 1 wherein identifying the subterranean object is performed by a trained evaluation system.

19. The method recited in claim 18 wherein the trained evaluation system comprises a neural net.

20. The method recited in claim 18 wherein the trained evaluation system comprises an expert system.

21. A method for identifying a subterranean object in a subterranean volume, the method comprising:

mapping a ground surface of the subterranean volume with a laser signal;

propagating a radar signal into the subterranean volume with a radar antenna while the radar antenna is in motion along a navigation path;

measuring motion of the radar antenna with an inertial measurement unit;

receiving a reflected radar signal from the subterranean object;

ascertaining physical characteristics of the subterranean object from the reflected radar signal, including compensating for the motion of the radar antenna as measured by the inertial measurement unit; and

comparing the ascertained physical characteristics of the subterranean object with a predetermined set of physical characteristics with a trained evaluation system.

22. The method recited in claim 21 further comprising ascertaining longitude and latitude positions for the subterranean object with a global positioning system.

23. The method recited in claim 21 further comprising:

imaging the ground surface by detecting infrared radiation from the ground surface; and

correlating the detected infrared radiation with the reflected radar signal.

24. The method recited in claim 21 further comprising:

imaging the ground surface by detecting visible-wavelength electromagnetic radiation from the ground surface;

digitizing a signal from the detected visible-wavelength electromagnetic radiation; and

correlating the digitized signal with the reflected radar signal.

25. The method recited in claim 21 further comprising detecting the subterranean object with a magnetometer.

26. The method recited in claim 21 further comprising detecting hydrocarbon emission from the subterranean object.

27. The method recited in claim 21 wherein the subterranean object comprises unexploded ordnance.

28. A system for analyzing a subterranean volume, the system comprising:

a radar source configurable for connection with an airborne vehicle; and

an arrangement of at least one computer system in communication with the radar source and configured to accept instructions from an operator and to operate the radar source in accordance with the following;

propagating a radar signal with the radar source into the subterranean volume as the airborne vehicle moves along a navigation path;

receiving a reflected radar signal from a subterranean object within the subterranean volume; and

ascertaining physical characteristics of the subterranean object from the reflected radar signal.

29. The system recited in claim 28 further comprising a laser mapping subsystem in communication with the arrangement of at least one computer system and configurable for connection with the airborne vehicle, wherein the arrangement of at least one computer system is further configured to operate the laser mapping subsystem in accordance with mapping a ground surface of the subterranean volume.

30. The system recited in claim 29 further comprising a global positioning system in communication with the arrangement of at least one computer system and configurable for connection with the airborne vehicle, wherein the arrangement of at least one computer system is further configured to operate the global positioning system in accordance with ascertaining longitude and latitude positions for the subterranean object.

31. The system recited in claim 28 further comprising an inertial measurement unit in communication with the arrangement of at least one computer system and configurable for connection with the airborne vehicle, wherein the arrangement of at least one computer system is configured to operate the inertial measurement system such that ascertaining physical characteristics of the subterranean object from the reflected radar signal comprises compensating for the motion of the airborne vehicle.

32. The system recited in claim 28 further comprising an infrared detector in communication with the arrangement of at least one computer system and configurable for connection with the airborne vehicle, wherein the arrangement of at least one computer system is further configured to operate the infrared detector for imaging a ground surface of the subterranean volume in accordance with the following:

detecting infrared radiation from the ground surface; and

correlating the detected infrared radiation with the reflected radar signal.

33. The method recited in claim 32 wherein the detected infrared radiation has a wavelength between 3 and 5 μ

m.

34. The method recited in claim 32 wherein the detected infrared radiation has a wavelength between 8 and 12 μ

m.

35. The method recited in claim 28 further comprising a visible-wavelength electromagnetic radiation detector in communication with the arrangement of at least one computer system and configurable for connection with the airborne vehicle, wherein the arrangement of at least one computer system is further configured to operate the visible-wavelength electromagnetic radiation detector for imaging a ground surface of the subterranean volume in accordance with the following:

detecting visible-wavelength electromagnetic radiation from the ground surface;

digitizing a signal from the detected visible-wavelength electromagnetic radiation; and

correlating the digitized signal with the reflected radar signal.

36. The system recited in claim 35 wherein the visible-wavelength electromagnetic radiation detector is a charge-coupled device.

37. The system recited in claim 28 further comprising a magnetometer in communication with the arrangement of at least one computer system and configurable for connection with the airborne vehicle, wherein the arrangement of at least one computer system is further configured to operate the magnetometer for detecting the subterranean object with the magnetometer.

38. The system recited in claim 28 further comprising a hydrocarbon leak detector in communication with the arrangement of at least one computer system and configurable for connection with the airborne vehicle, wherein the arrangement of at least one computer system is further configured to operate the hydrocarbon leak detector for detecting hydrocarbon emission from the subterranean object.

39. The system recited in claim 28 wherein the arrangement of at least one computer system includes a trained evaluation system for identifying the subterranean object from the ascertained physical characteristics.

40. The system recited in claim 39 wherein identifying the subterranean object comprises evaluating whether the subterranean object contains a structural anomaly by comparing its ascertained physical characteristics with expected characteristics.

41. The system recited in claim 40 wherein evaluating whether the subterranean object contains a structural anomaly comprises ascertaining a location of any such structural anomaly.

42. The system recited in claim 40 wherein the subterranean object is a portion of an underground pipeline.

43. The system recited in claim 39 wherein the trained evaluation system comprises a neural net.

44. The system recited in claim 39 wherein the trained evaluation system comprises an expert system.

45. The system recited in claim 28 wherein the subterranean object comprises unexploded ordnance.

46. A system for analyzing a subterranean volume, the system comprising:

a radar source configurable for connection with a vehicle;

a radar antenna configurable for connection with the vehicle, the radar antenna being adapted to emit and receive electromagnetic signals;

a laser mapping subsystem configurable for connection with the vehicle;

an inertial measurement unit configurable for connection with the vehicle; and

an arrangement of at least one computer system in communication with the radar source, the laser mapping subsystem, and the inertial measurement unit, and configured to accept instructions from an operator and to operate the radar source, the laser mapping subsystem, and the inertial measurement unit in accordance with the following;

mapping a ground surface of the subterranean volume with the laser mapping subsystem;

propagating a radar signal with the radar source into the subterranean volume as the airborne vehicle moves along a navigation path;

measuring motion of vehicle with the inertial measurement unit;

receiving a reflected radar signal from the subterranean object;

ascertaining physical characteristics of the subterranean object from the reflected radar signal, including compensating for the motion of the vehicle as measured by the inertial measurement unit; and

comparing the ascertained physical characteristics of the subterranean object with a predetermined set of physical characteristics with a trained evaluating system.

47. The system recited in claim 46 further comprising a global positioning system in communication with the arrangement of at least one computer system and configurable for connection with the vehicle, wherein the arrangement of at least one computer system is further configured to operate the global positioning system in accordance with ascertaining longitude and latitude positions for the subterranean object.

48. The system recited in claim 46 further comprising an infrared detector in communication with the arrangement of at least one computer system and configurable for connection with the airborne vehicle, wherein the arrangement of at least one computer system is further configured to operate the infrared detector for imaging the ground surface of the subterranean volume in accordance with the following:

detecting infrared radiation from the ground surface; and

correlating the detected infrared radiation with the reflected radar signal.

49. The system recited in claim 46 a charge-coupled device in communication with the arrangement of at least one computer system and configurable for connection with the airborne vehicle, wherein the arrangement of at least one computer system is further configured to operate the charge-coupled device for imaging a ground surface of the subterranean volume in accordance with the following:

detecting visible-wavelength electromagnetic radiation from the ground surface;

digitizing a signal from the detected visible-wavelength electromagnetic radiation; and

correlating the digitized signal with the reflected radar signal.

50. The system recited in claim 46 further comprising a magnetometer in communication with the arrangement of at least one computer system and configurable for connection with the airborne vehicle, wherein the arrangement of at least one computer system is further configured to operate the magnetometer for detecting the subterranean object with the magnetometer.

51. The system recited in claim 46 further comprising a hydrocarbon leak detector in communication with the arrangement of at least one computer system and configurable for connection with the airborne vehicle, wherein the arrangement of at least one computer system is further configured to operate the hydrocarbon leak detector for detecting hydrocarbon emission from the subterranean object.

52. The system recited in claim 46 wherein the subterranean object comprises unexploded ordnance.

53. A system for analyzing a subterranean volume, the system comprising:

laser means for mapping a ground surface of the subterranean volume;

radar means for propagating a radar signal into the subterranean volume;

transport means for moving such radar means along a navigation path;

inertial measurement means for measuring motion of the radar means; and

computer means in communication with the laser means, the radar means, the transport means, and the inertial measurement means, and configured to accept instructions from an operator and to operate the laser means, the radar means, the transport means, and the inertial measurement means in accordance with the following;

mapping the ground surface of the subterranean volume with the laser means;

propagating the radar signal with the radar means into the subterranean volume as the radar means is moved along a navigation path;

measuring motion of radar means with the inertial measurement means;

receiving a reflected radar signal from the subterranean object;

ascertaining physical characteristics of the subterranean object from the reflected radar signal, including compensating for the motion of the vehicle as measured by the inertial measurement means; and

comparing the ascertained physical characteristics of the subterranean object with a predetermined set of physical characteristics with a trained evaluating system.

54. The system recited in claim 53 further comprising global positioning means in communication with the arrangement of at least one computer system, wherein the arrangement of at least one computer system is further configured to operate the global positioning means in accordance with ascertaining longitude and latitude positions for the subterranean object.

55. The system recited in claim 53 further comprising infrared detector means in communication with the arrangement of at least one computer system, wherein the arrangement of at least one computer system is further configured to operate the infrared detector means for imaging the ground surface of the subterranean volume in accordance with the following:

detecting infrared radiation from the ground surface; and

correlating the detected infrared radiation with the reflected radar signal.

56. The system recited in claim 53 further comprising charge-coupled device means in communication with the arrangement of at least one computer system, wherein the arrangement of at least one computer system is further configured to operate the charge-coupled device means for imaging a ground surface of the subterranean volume in accordance with the following:

detecting visible-wavelength electromagnetic radiation from the ground surface;

digitizing a signal from the detected visible-wavelength electromagnetic radiation; and

correlating the digitized signal with the reflected radar signal.

57. The system recited in claim 53 further comprising magnetometer means in communication with the arrangement of at least one computer system, wherein the arrangement of at least one computer system is further configured to operate the magnetometer means for detecting the subterranean object with the magnetometer means.

58. The system recited in claim 53 further comprising hydrocarbon leak detection means in communication with the arrangement of at least one computer system and configurable for connection with the airborne vehicle, wherein the arrangement of at least one computer system is further configured to operate the hydrocarbon leak detection means for detecting hydrocarbon emission from the subterranean object.

59. The system recited in claim 53 wherein the subterranean object comprises unexploded ordnance.