System and method for detecting, locating and identifying objects located above the ground and below the ground in a pre-referenced area of interest

• US 8,508,402 B2
• Filed: 01/02/2009
• Issued: 08/13/2013
• Est. Priority Date: 01/04/2008
• Status: Expired due to Fees

• Current Assignee: Pontificia Universidad Catolica De Chile
• Original Assignee: Pontificia Universidad Catolica De Chile
• Inventors: Duran Toro, Mario Manuel, Guarini Herrmann, Marcelo Walter
• Primary Examiner(s): Sotomayor, John B.
• Assistant Examiner(s): WINDRICH, MARCUS E
• Application Number:
  US12/735,344
• Publication Number:
  US 20110037639A1
• Time in Patent Office: 1,684 Days
• Field of Search: 342/22, 342 25 R- 25 F, 342/27, 342/179, 342/191, 34235724-35726
• US Class Current: 342/22
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• 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 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: G01V 3/17 operating with electromagnetic waves operating with millimetre waves G01V8/005

Abstract

The invention relates to a system and method for detecting, locating and identifying objects located above ground or below ground in an area of interest, comprising an airborne vehicle which circumscribes the area of interest and which includes a built-in radar having an antenna with a respective transmitter and receiver, signal-processing means, data-storage means and graphical interface means. According to the invention, the area of interest has been pre-referenced and the radar is a heterodyne ground penetration radar (GPR). The signal transmitted by the antenna generates a beam that illuminates a strip of earth, consisting of a sinusoidal electromagnetic signal having a frequency that is varied in precise pre-determined progressive steps. This signal is mixed with the received (reflected) signal, thereby producing two sets of values corresponding to the phases of each frequency step or stage. Said sets of values, which are obtained throughout successive sweeps (as the antenna moves), are stored in the storage means and subsequently processed in the processing means in order to obtain a final map or image of the location of the objects above ground or below ground.

Claims

1. A system for detecting, locating and identifying objects above the ground and below the ground comprising:

an area of interest;

an airborne vehicle circumscribing said area of interest, that is provided with a radar comprising an antenna having a transmitter device and a receiver device;

a signal processing means;

a data storage means; and

a graphical interface means, wherein said area of interest is previously referenced and said radar is a ground penetration radar of the heterodyne type in which signal transmitted by the antenna generates a light beam from a strip of land and consists of a sinusoidal electromagnetic signal whose frequency is varied in predetermined and accurate steps , wherein said transmitted signal is mixed with the received or reflected signal for each step, resulting in two sets of values corresponding to the phases of each frequency step, and wherein the two sets of values obtained over successive scannings are stored in the storage means and subsequently processed in processing means for obtaining a final image of the location of said objects above the ground and below the ground, wherein the obtained object image is calibrated with distances and heights comprising spatial coordinate data, and wherein said processing means further geometrically encode the final image by determining a code for each measured point of said area of interest and assigning said code to said each measured point.

2. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 1, wherein the previously referenced area of interest consists of a rectangular reference framework that is drawn up based on a reference point, base points and points of orientation, which allows subsequently georeferencing of processed values and determining the coordinates of the objects above the ground and below the ground, in an image or map form.

3. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 2, wherein said reference point is linked to a geodetic reference point belonging to an official geodetic network.

4. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 3, wherein if said point in the geodetic network is located within 50 km from the reference point of the reference framework, then the measurement of the differential method of the reference point is a 4 hour measurement with an interval of 1 second.

5. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 3, wherein if said point in the geodetic network is over 50 km. from the reference point of the reference framework, then the measurement of the differential method of the reference point is a 6 hour measurement with an interval of 1 second.

6. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 2, wherein said base points are points adjacent and close to the area of interest and they are marked with metal discs attached to a pole.

7. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 6, wherein said base points are located at the four corners of the reference framework, wherein the larger side of said reference framework further comprises at least one intermediate base point.

8. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 2, wherein said points of orientation are located at each of the vertices of the reference framework and further out of these vertices with respect to the base points, such that they are arranged crossways to the base points, distant from them at a distance of about one meter.

9. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 7, wherein said base points are georeferenced points by a base Global Positioning System unit through real time kinematik (RTK) method, wherein such base Global Positioning System unit is installed above the reference point.

10. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 4, wherein measuring in the differential method of the reference point allows coordinates with an accuracy of about ±

2 cm to be generated by each base point in the reference framework.

11. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 5, wherein measuring in the differential method of reference point allows coordinates with an accuracy of about ±

2 cm to be generated by each base point in the reference framework.

12. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 1, wherein the sinusoidal electromagnetic signal whose frequency is varied in equal stepped stages is in the range of 750-3000 MHz.

13. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 12, wherein said stepped stages are discrete frequency steps with a minimum of 64 steps and a maximum of 512 steps.

14. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 1, wherein said radar comprises an antenna with its respective transmitter and receiver device that is fitted outside the airborne vehicle, which orientation, to generate the light beam scanning, ranges from 35.degree. to 55.degree. to the vertical.

15. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 14, wherein said antenna moves with constant speed and constant height along a line perpendicular to the vertical and to the light beam axis.

16. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 15, wherein said speed and height values are obtained by a precision Global Positioning System unit fitted in the airborne vehicle, which are synchronized with the values received by the radar receiver, so as to allow the image coordinates to be calibrated.

17. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 1, wherein said processing means generate range sequences or distance measurements to the different objects above the ground and below the ground, using the inverse Fourier transform.

18. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 17, wherein said range sequences are combined for obtaining an object image, consisting in sequentially aligning each of the range measurements in the same sequence they were obtained in the scanning process.

19. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 18, wherein said combination of range measurements are processed using a detection algorithm that allows the location of each object in the scanning region for obtaining an image of the object detected to be accurately determined, wherein the location is determined by georeferenced height and distance values.

20. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 1, wherein said processing means further position the image values and place them on the ground to project it based on a coordinate system.

21. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 20, wherein said processing means further rearrange pixels for creating even spacing between them across the complete width of the image.

22. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 21, wherein said processing means further build densification of points based on points obtained on the ground in order to generate a digital field model with which the image is orthogonally rectified in order to correct all the vertical distortions and exaggerations of the image.

23. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 22, wherein said processing means further correlate the pixels of the image and imposition of ground point coordinates, controlling the location with the points generated in densification.

24. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 23, wherein said processing means further calculates the mean square error based on the pixel size as well as the spatial resolution of the image.

25. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 24, wherein said processing means further calculate the weighted average of sixteen surrounding pixels to estimate the digital value for the final corrected image through cubic convolution.

26. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 25, wherein said processing means further draw up a risk map containing the position vectors of detected objects.

27. A system for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 26, wherein said processing means further perform a remapping through the real time kinematik (RTK) method of measurement, consisting in taking the obtained coordinates of the objects in the image and using a Differential Global Positioning System unit and marking them on the ground.

28. Method for detecting, locating and identifying objects above the ground and below the ground comprising an area of interest, an airborne vehicle circumscribing said area of interest, that is provided with a radar comprising an antenna with its respective transmitter and receiver device, signal processing means, data storage means and graphical interface means, characterized in that it comprises:

setting a rectangular reference framework based on a point of reference, base points and orientation points around the area of interest;

transmitting an sinusoidal electromagnetic signal whose frequency is varied in predetermined and accurate stepped stages to illuminate the area of interest and reference framework;

mixing the reflected signal with the signal sent to obtain sets of values corresponding to the phases of each frequency step or stage, wherein said sets of values are obtained over successive scannings as the antenna moves;

applying the inverse Fourier transform to the sets of values in order to obtain a set of range measurements for objects in the ground illuminated by the radar light beam;

sequentially aligning each of the range measurements in the same sequence in which they were obtained from successive scannings for obtaining an image;

processing said image through the use of a detection algorithm, which accurately determines the location of each object in the scanning region, obtaining a map of location of objects above the ground and below the ground;

calibrating the map in order to obtain distances and heights expressed in length;

georeferencing the calibrated image to submit space coordinate data in the image, according to the following sub-steps;

geometrically encoding the calibrated image to identify and assign a code to each measured point in creating the framework;

building a point densification based on points obtained on the ground in order to generate a digital field model, with which the image is orthogonally rectified and all vertical distortions and exaggerations in the image are corrected;

correlating the pixels in the image in the above point and imposition of ground point coordinates, controlling the location with the points generated in densification;

drawing up a risk map containing position vectors of the objects; and

remapping the object coordinates in the image obtained in the previous step for marking on the ground.

29. Method for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 28, wherein said reference point is correlated to a geodetic reference point belonging to an official Geodetic Network.

30. Method for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 29, wherein if said point in the geodetic network is located within 50 km from the reference point of the reference framework, then the measurement of the differential method of the reference point is a 4 hour measurement with an interval of 1 second.

31. Method for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 29, wherein if said point in the geodetic network is located within 50 km from the reference point of the reference framework, then the measurement of the differential method of the reference point is a 6 hour measurement with an interval of 1 second.

32. Method for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 28, wherein said base points are located adjacent and close to the area of interest at the four corners of the reference framework wherein the larger side of said reference framework further comprises at least one intermediate base point and wherein said base points and said at least one intermediate base point are marked with metal discs, wherein each one of said metal discs is attached to a pole.

33. Method for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 28, wherein said points of orientation are located at each of the vertices of the reference framework and further out of these vertices with respect to the base points, such that they are arranged crossways to the base points, distant from them at a distance of about one meter.

34. Method for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 28, wherein said base points are georeferenced points by a base Global Positioning System unit through real time kinematik (RTK) method, wherein such base Global Positioning System unit is installed above the reference point.

35. Method for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 28, wherein the orientation of said radar antenna, to generate the light beam scanning, ranges from 35.degree. to 55.degree. to the vertical.

36. Method for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 35, wherein said antenna moves with constant speed and constant height along a line perpendicular to the vertical and to the light beam axis.

37. Method for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 36, wherein said speed and height values are obtained with a precision Global Positioning System unit fitted on the airborne vehicle, which are synchronized with the values received by the radar receiver, for the calibration of the image coordinates.

38. Method for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 28, wherein said combination of range measurements is processed using a detection algorithm that allows the location of each object in the scanning region for obtaining an image of the object detected to be accurately determined.

39. Method for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 38, wherein it further comprises positioning image values and locating them on the ground to project them based on a coordinate system.

40. Method for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 39, wherein it further comprises rearranging pixels for creating even spacing between them across the complete width of the image.

41. A method for detecting, locating and identifying objects above the ground and below the ground as claimed in claim 28, wherein said processing means further position the image values and place them on the ground to project it based on a coordinate system.