CN107390276B - A kind of underground utilities positioning device and method based on complementary Gray code - Google Patents
A kind of underground utilities positioning device and method based on complementary Gray code Download PDFInfo
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- CN107390276B CN107390276B CN201710602538.3A CN201710602538A CN107390276B CN 107390276 B CN107390276 B CN 107390276B CN 201710602538 A CN201710602538 A CN 201710602538A CN 107390276 B CN107390276 B CN 107390276B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/15—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat
- G01V3/17—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat operating with electromagnetic waves
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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
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The present invention relates to field of geophysical exploration, specially a kind of underground utilities positioning device and method based on complementary Gray code.Described device includes coded conversion device, complementary Gray code generation device, power splitter, the first amplifier, transmitting antenna, receiving antenna, the second amplifier, adjustable electric delay line, photo-electric signal pickup assembly, velocity sensor, trigger control device, GPS device, signal processing storage device, display device.The present invention uses complementation Gray code A and complement code B as detectable signal respectively in same measurement point, and the relevant information detected twice is added, the signal-to-noise ratio of system can be significantly improved.
Description
Technical field
The present invention relates to field of geophysical exploration, specially a kind of underground utilities positioning device based on complementary Gray code
And method.
Background technique
Underground utilities are the material bases that city is depended on for existence and development, referred to as " lifeline " in city.With city
Change construction and development, the type and quantity of underground utilities increase rapidly, and various pipelines are in a crisscross manner throughout entire city.However,
By underground utilities data Wrong, missing and deviation be larger etc., reasons are influenced, and cause to judge underground utilities distribution situation by accident, and then cause
Frequent Accidents in the construction process.Therefore, Electromagnetic Survey of Underground Pipelines becomes the necessary link of urban underground engineering construction.
In existing pipeline detection method, Ground Penetrating Radar is to encounter medium during underground propagation according to electromagnetic wave
The principle that electrical property difference can reflect carries out pipeline detection.Compared with other pipeline detection methods, there is the scope of application
Extensively, the advantages that fast and flexible, accurate positioning.
Ground Penetrating Radar is broadly divided into according to the difference of detectable signal: pulse regime Ground Penetrating Radar, linear frequency modulation system visit ground
Radar and frequency modulation stepping system Ground Penetrating Radar.Ground Penetrating Radar product currently on the market is almost all based on pulse regime realization
's.However pulse regime Ground Penetrating Radar exists and is difficult to combine resolution ratio and detection range, larger, right by electromagnetic interference around
The low problem of this kind of weak signal target detectivity of nonmetal pipe line.When linear frequency modulation system and frequency modulation stepping system Ground Penetrating Radar use big
Wide bandwidth product signal is as detectable signal, thus both system Ground Penetrating Radar can combine two side of resolution ratio and detection range
The requirement in face.In addition, the interference free performance of the Ground Penetrating Radar of both systems also has some improvement.But linear frequency modulation body
Higher distance side lobe can be generated when system and frequency modulation stepping system ground penetrating radar detection, to cover the echo letter of underground weak signal target
Number, cause the decline of target detection rate and false alarm rate to increase, although using Sidelobe Suppression technology can be with suppressed sidelobes, however, secondary lobe
Inhibition is to be reduced to cost with snr loss and resolution ratio, and therefore, it is necessary to the influences for considering this three aspect of compromising.
In summary it can be seen, underground utilities are positioned using Ground Penetrating Radar, need take into account resolution ratio and detection away from
From while, inhibition noise as far as possible improves signal-to-noise ratio, and then improve to the detectivity of pipeline, especially nonmetal pipe line.
Summary of the invention
The object of the present invention is to provide a kind of underground utilities positioning devices and method based on complementary Gray code, existing to improve
There is the signal-to-noise ratio of Ground Penetrating Radar, solves the low technical problem of nonmetal pipe line detectivity in the prior art.
To achieve the above object, the invention adopts the following technical scheme:
A kind of underground utilities positioning device based on complementary Gray code, including coded conversion device, complementary Gray code generate dress
Set, power splitter, the first amplifier, transmitting antenna, receiving antenna, the second amplifier, adjustable electric delay line, signal pickup assembly,
Signal processing storage device, GPS device, display device；Complementary Gray code generation device, which is controlled, by coded conversion device generates code A
Or complement code B；The code A or complement code B is divided into detectable signal and ginseng by the power splitter being connected with complementary Gray code generation device
Examine signal；Power splitter is equipped with the second output terminal for exporting the first output port of detectable signal and for exporting reference signal
Mouthful；The second output terminal mouth of power splitter is sequentially connected with adjustable electric delay line and signal pickup assembly first input port；Function point
First output port of device is connected with the first amplifier, the output end of the first amplifier be connected with for by detectable signal emit to
The transmitting antenna of underground；The detectable signal emitted to underground can reflect to form reflection signal, reflection signal warp at pipeline
Receiving antenna receives；The signal output port of the receiving antenna is sequentially connected with the second of the second amplifier and signal pickup assembly
Input port；The signal output port connection signal of the signal pickup assembly handles storage device first input port；GPS dress
Set connection signal processing the second input port of storage device；Signal processing storage device output port is connect with display device.
It further, further include trigger control device and photoelectric speed sensor；Photoelectric speed sensor and triggering
Control device connection, trigger control device output end are connect with signal pickup assembly third input port.
Trigger control device and photoelectric speed sensor can guarantee the code A for accurately detecting same place and complement code
The relevant information that B is obtained as detectable signal respectively, can be such that signal-to-noise ratio further increases.
It further, further include the cart equipped with wheel and handrail；In addition to display device and photoelectric speed sensor
Remaining device is integrated in a cabinet, and cabinet is fixed on cart car body by fixed link, and display device is fixed on cart
At handrail upper end, photoelectric speed sensor is mounted at axis wheel.Whole device is convenient for synchronizing moving in this way, can be more preferable
The detection for being applied to outdoor underground utilities.
A kind of underground utilities localization method based on complementary Gray code, steps are as follows for the detection method:
A. entirely the underground utilities positioning device based on complementary Gray code moves ahead along measurement route, utilizes coded conversion device
The code A of complementary Gray code generation device generation is controlled as detectable signal；Detectable signal code A is divided into detectable signal after power splitter
And reference signal；Reference signal is adjusted by adjustable electric delay line, to guarantee that reference signal and detectable signal transmit in the cable
Delay it is equal, reference signal is acquired by signal pickup assembly later；Detectable signal is after the amplification of the first amplifier through emitting
Antenna is emitted to underground；Transmitting signal can reflect at pipeline, after reflection signal is received by receiving antenna, through the second amplification
Signal pickup assembly is sent into after device amplification；Trigger control device is based on by the umber of pulse calculating of record photoelectric speed sensor
The displacement of the underground utilities positioning device of complementary Gray code, when displacement is equal to pre-set displacement, triggering control
Device output trigger signal is to signal pickup assembly, the reference signal received to triggering collection and reflection signal；It will acquisition
The reference signal and reflection signal arrived carries out relevant treatment in signal processing storage device, and stores the data after correlation；
B. the complement code B for controlling complementary Gray code generation device generation using coded conversion device is based on mutual as detectable signal
The underground utilities positioning device for mending Gray code repeats survey line identical with step a and advances, in trigger control device setting and step a
Identical displacement repeats detectable signal described in a by being emitted to down toward reflection signal and with reference to letter as trigger signal
Number carry out relevant treatment and the step of store, it is therefore an objective to code A and benefit can be obtained respectively in same measurement point in making to measure twice
Relevant information when code B is as detectable signal；
C. relevant information and complement code B are obtained as the relevant information of detectable signal at signal for code A as detectable signal
Reason storage device carries out addition processing, and carries out imaging on this basis；The buried depth information of pipeline can be obtained；Pass through
The longitude and latitude information that GPS device obtains give signal processing storage device, can obtain the longitude and latitude information of pipeline；
Positioning result is shown by display device and is exported.
A kind of underground utilities positioning device and method based on complementary Gray code provided by the present invention is above-mentioned, and it is existing
Pipeline detection technology based on Ground Penetrating Radar is compared, and is had the advantages that
(1) strong antijamming capability.The code A or complement code B that complementary Gray code generation device generates have noise like characteristic, one
Determine that there is flat frequency spectrum in bandwidth range, its ambiguity function is drawing pin type in bandwidth range.
(2) signal-to-noise ratio is high.Code A or complement code B that complementary Gray code generation device generates are one kind of pulse compression signal, tool
There is biggish time bandwidth product, in process of pulse-compression, high pulse compression gains can be obtained, improve system noise
Than.In addition, code A is added with the complement code B relevant information for doing detectable signal acquisition respectively, can be made in same measurement point
Signal-to-noise ratio improves again.
(3) without detection blind area.By the code length of increase code A or complement code B, the gross energy of transmitting signal can be increased,
Therefore very high instantaneous power (not higher than 10KW) is not needed, receiver will not be damaged, non-blind area detection may be implemented.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is complementary Gray code autocorrelator trace of the invention.
Fig. 3 is the structural schematic diagram of cart of the present invention.
In figure: 1: coded conversion device；2: complementary Gray code generation device；3: power splitter；4: the first amplifiers；5a: transmitting
Antenna；5b: receiving antenna；6: adjustable electric delay line；7: the second amplifiers；8: signal pickup assembly；9: trigger control device；
10: signal processing storage device；11:GPS device；12: photoelectric speed sensor；13: display device；14: wheel；15: helping
Hand；16: cabinet, 17: underground medium；18: pipeline.
Specific embodiment
Concrete mode of the invention is further illustrated with reference to the accompanying drawing.
A kind of underground utilities positioning device based on complementary Gray code, as shown in Figure 1, including coded conversion device 1, mutual complemented lattice
Thunder code generation device 2, power splitter 3, the first amplifier 4, transmitting antenna 5a, receiving antenna 5b, adjustable electric delay line 6, second are put
Big device 7, signal pickup assembly 8, trigger control device 9, signal processing storage device 10, GPS device 11, photo-electric velocity pick-up
Device 12, display device 13.
The code A of the complementary generation of Gray code generation device 2 is controlled as detectable signal by coded conversion device 1；Detectable signal
Divided by power splitter 3 for detectable signal and reference signal；Reference signal by adjustable electric delay line 6, with guarantee reference signal and
The delay that detectable signal transmits in the cable is equal, is sent to signal pickup assembly 8 later；Detectable signal passes through the first amplifier
Emitted after 4 amplifications by transmitting antenna 5a, transmitting signal, which encounters pipeline, to be reflected, and the reflection received antenna 5b of signal connects
It receives, the signal received input signal acquisition device 8 after the amplification of the second amplifier 7；Signal pickup assembly 8 is in triggering control dress
Set the 9 lower acquisition reference signal of triggering control and reflection signal；Wherein, trigger control device 9 is received passes from photo-electric speed
The pulse signal of sensor 12, when equipment is measured along survey line, by the umber of pulse meter for recording photoelectric speed sensor 12
The displacement for calculating equipment, when displacement is equal to pre-set displacement, trigger control device 9 exports trigger signal to signal
Acquisition device 8；Collected reference signal and reflection signal carry out relevant treatment in signal processing storage device 10, and store
Data after correlation；
Complement code B that complementary Gray code generation device 2 generates is controlled as detectable signal, along phase using coded conversion device 1
Same survey line, trigger control device 9 sets displacement same as described above as trigger signal, repeats the above process, so that two
In secondary measurement the relevant information of code A and complement code B as detectable signal when can be obtained respectively in same measurement point；
In signal processing storage device 10, phase that the code A measured twice along same survey line is obtained as detectable signal
It closes information to carry out being added processing as the relevant information that detectable signal obtains with complement code B, and carries out at imaging on this basis
Reason, obtains the buried depth information of pipeline；
The longitude of pipeline is obtained by GPS device 11 and latitude information gives signal processing storage device 10；
Pipeline buried depth, longitude and the latitude information of acquisition are given display device 13 display tube by signal processing storage device 10
Line positioning result.
Fig. 2 is to generate the autocorrelator trace that frequency is the complementary Gray code code A of 20MHz, complement code B, code A+ complement code B.From code A
It can be seen that, the noise floor of signal is obviously lower, and peak value becomes 2 times in the correlation curve of+complement code B.
As shown in figure 3, whole device is integrated on a cart, display device 13 is arranged in 15 upper end of handrail, is convenient for
Observe detection result；Cabinet 16 is fixed on cart car body by fixed link, for detecting pipeline；Photoelectric speed sensor 12 is set
At 14 axle center of wheel, the travel distance of cart can be accurately measured in this way.
Claims (4)
1. a kind of underground utilities positioning device based on complementary Gray code, which is characterized in that including coded conversion device (1), complementation
Gray code generation device (2), power splitter (3), the first amplifier (4), transmitting antenna (5a), receiving antenna (5b), the second amplification
Device (7), adjustable electric delay line (6), signal pickup assembly (8), signal processing storage device (10), GPS device (11), display dress
Set (13)；Complementary Gray code generation device (2), which is controlled, by coded conversion device (1) generates code A or complement code B；The code A or complement code
B is divided into detectable signal and reference signal by the power splitter (3) being connected with complementary Gray code generation device (2)；Power splitter (3)
Equipped with the first output port for exporting detectable signal and the second output terminal mouth for exporting reference signal；Power splitter (3)
Second output terminal mouth be sequentially connected with adjustable electric delay line (6) and signal pickup assembly (8) first input port；Power splitter
(3) the first output port is connected with the first amplifier (4), and the output end of the first amplifier (4) is connected with for that will detect letter
Number transmitting to underground transmitting antenna (5a)；The detectable signal emitted to underground can reflect to form reflection letter at pipeline
Number, the reflection received antenna of signal (5b) receives；The signal output port of the receiving antenna (5b) is sequentially connected with the second amplification
Second input port of device (7) and signal pickup assembly (8)；The signal output port of the signal pickup assembly (8) connects letter
Number processing storage device (10) first input port；GPS device (11) connection signal handles (10) second input terminal of storage device
Mouthful；Signal processing storage device (10) output port is connect with display device (13).
2. as described in claim 1 based on the underground utilities positioning device of complementary Gray code, which is characterized in that further include triggering
Control device (9) and photoelectric speed sensor (12)；Photoelectric speed sensor (12) is connect with trigger control device (9),
Trigger control device (9) output end is connect with signal pickup assembly (8) third input port.
3. as claimed in claim 2 based on the underground utilities positioning device of complementary Gray code, which is characterized in that further include being equipped with
The cart of wheel (14) and handrail (15)；Remaining device collects in addition to display device (13) and photoelectric speed sensor (12)
In Cheng Yi cabinet (16), cabinet (16) is fixed on cart car body by fixed link, and display device (13) is fixed on cart
At handrail (15) upper end, photoelectric speed sensor (12) is mounted at wheel (14) axle center.
4. a kind of underground utilities localization method based on complementary Gray code, is realized using device described in claim 2 or 3,
It is characterized in that, this method is realized using following steps:
A. entirely the underground utilities positioning device based on complementary Gray code moves ahead along measurement route, is controlled using coded conversion device (1)
The code A of complementary Gray code generation device (2) generation is made as detectable signal；Detectable signal code A is divided into detection after power splitter (3)
Signal and reference signal；Reference signal is adjusted by adjustable electric delay line (6), to guarantee reference signal and detectable signal in cable
The delay of middle transmission is equal, acquires reference signal by signal pickup assembly (8) later；Detectable signal is through the first amplifier (4)
Underground is emitted to through transmitting antenna (5a) after amplification；Transmitting signal can reflect at pipeline, reflect signal by receiving antenna
After (5b) is received, signal pickup assembly (8) are sent into after the second amplifier (7) amplification；Trigger control device (9) passes through recording light
The umber of pulse of electric-type velocity sensor (12) calculates the displacement of the underground utilities positioning device based on complementary Gray code, works as displacement
When amount is equal to pre-set displacement, trigger control device (9) exports trigger signal to signal pickup assembly (8), to touch
The reference signal and reflection signal that hair acquisition receives；Collected reference signal and reflection signal are stored in signal processing and filled
It sets (10) and carries out relevant treatment, and store the data after correlation；
B. the complement code B for controlling complementary Gray code generation device (2) generation using coded conversion device (1) is based on as detectable signal
The underground utilities positioning device of complementary Gray code repeats survey line identical with step a and advances, trigger control device (9) setting and step
Identical displacement repeats detectable signal described in a by being emitted to down toward reflection signal and ginseng as trigger signal in rapid a
It examines signal and carries out relevant treatment and the step of store, it is therefore an objective to code A can be obtained respectively in same measurement point in making to measure twice
Relevant information when with complement code B as detectable signal；
C. code A relevant information and complement code B is obtained as the relevant information of detectable signal as detectable signal to deposit in signal processing
Storage device (10) carries out addition processing, and carries out imaging on this basis；The buried depth information of pipeline can be obtained；
The longitude and latitude information obtained by GPS device (11) gives signal processing storage device, can obtain pipeline longitude and
Latitude information；Positioning result is passed through into display device (13) display output.
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| CN108319963B (en) * | 2018-02-06 | 2021-10-01 | 太原理工大学 | Urban road underground disease identification method based on constrained robust principal component analysis |
| CN109257046B (en) * | 2018-11-07 | 2022-03-22 | 太原理工大学 | High-speed Golay complementary code generating system with adjustable rate based on FPGA |
| US11906687B2 (en) * | 2019-08-30 | 2024-02-20 | Nippon Telegraph And Telephone Corporation | Underground survey apparatus |
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| CN1448014A (en) * | 2000-08-16 | 2003-10-08 | 维桑特·迪亚斯·富恩特 | Method, transmitter and receiver for spread spectrum digital communication using Golay complementary sequence modulation |
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| CN106052730A (en) * | 2016-07-28 | 2016-10-26 | 北京邮电大学 | Signal demodulation method and signal demodulation device used in optical fiber distributed sensor system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6529240B2 (en) * | 1999-11-18 | 2003-03-04 | Agilent Technologies, Inc. | Random access memory integrated with CMOS sensors |
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| CN1448014A (en) * | 2000-08-16 | 2003-10-08 | 维桑特·迪亚斯·富恩特 | Method, transmitter and receiver for spread spectrum digital communication using Golay complementary sequence modulation |
| CN103278260A (en) * | 2013-05-14 | 2013-09-04 | 威海北洋电气集团股份有限公司 | Gray code distributed type optical fiber temperature sensor, temperature measurement system and using method |
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