CN111812609A - Geological radar signal recovery method based on multilevel filtering nested amplitude gain - Google Patents
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Abstract
The invention relates to a geological radar signal recovery method based on multilevel filtering nested amplitude gain, which comprises the following steps: firstly, after pre-stage editing and modification processing are carried out on geological radar data to be processed, once broadband filtering and amplitude recovery are carried out, and overall signal enhancement is carried out on signals; and then, carrying out targeted main frequency filtering and signal enhancement according to the main frequency of the geological radar antenna, namely enhancing and extracting a target signal and a deep signal. The method can realize the recovery of normal signals and the deep signal recovery of radar detection in areas with fast signal attenuation (such as loess areas), can also realize the enhancement and extraction of special signals such as holes, roots and the like, further greatly improves the refined detection depth of the geological radar, can be widely applied to data processing in the shallow layer refined detection fields such as urban underground space detection, root detection, cavity detection, pipeline detection and the like, and is a signal recovery method with extremely high broad spectrum.
Description
Technical Field
The invention relates to a radar signal restoration technology, in particular to a geological radar signal restoration method based on multilevel filtering nested amplitude gain.
Background
The geological radar technology is widely applied to the fields of urban underground space detection, pipeline detection, root detection, bedrock detection, loess pore space detection and other engineering exploration, has the characteristics of light weight, rapidness, high detection precision and high resolution, but has the biggest problem of the technology because the signal attenuation is quicker and the detection depth is shallower.
In order to solve the above problems, those skilled in the art mainly use a relatively low frequency band antenna to achieve the purpose of deeper detection, but this is a method at the expense of resolution, and when a small target is detected, a corresponding signal is easily missed; the deep signal needs to be restored without sacrificing resolution. Practice shows that if single signal recovery is carried out, deep signals mostly have no large change, and if multiple gains are carried out, interference signals are easily amplified to be at the same level with main signals, so that great difficulty is caused for later-period interference signal elimination and main signal retention. Therefore, in the field, developing effective weak signal recovery technology to realize large-depth exploration with resolution preservation is always a leading topic of geological radar detection. In addition, some special signals (such as dovetail signals) are extracted and identified by a more effective signal recovery technique, and improper amplitude recovery often causes signal deformation or other signals, thereby affecting the identification of special targets.
Disclosure of Invention
Technical problem to be solved
In view of the defects and shortcomings of the prior art, the invention provides a geological radar signal recovery method based on multilevel filtering nested amplitude gain, which solves the technical problem that weak radar signals and deep radar signals cannot be recovered correctly in geological radar exploration.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that: the embodiment of the invention provides a geological radar signal recovery method based on multilevel filtering nested amplitude gain, which comprises the following steps:
s1, performing energy attenuation reverse gain processing on the profile of the geological radar data after the early-stage processing to obtain data I of primary integral signal recovery;
s2, performing one-dimensional truncation filtering on the first data to obtain second data from which ultrahigh frequency and ultralow frequency signals are removed;
s3, selecting a gain processing technology corresponding to the target signal according to the attribute of the target data, and performing gain processing on the second data to obtain the second data after the gain processing;
and S4, processing the gain-processed data II by adopting band-pass filtering with specified frequency, and acquiring geological radar data with deep signals and weak signals restored, wherein the geological radar data comprises the target data.
Optionally, the frequency of the filter corresponding to the one-dimensional truncation filtering in S2 is set to be between 1/10-5 times of the main frequency of the geological radar antenna used.
Optionally, in S3, if the target signal is a horizontally layered signal or an oblique signal, performing gain processing by using an energy attenuation inverse gain technique;
if the target signal is a dovetail signal, gain processing is carried out by adopting a geometric divergence compensation gain technology.
Optionally, in S4, centering on the radar antenna main frequency, setting the low-frequency shearing frequency F1 of the filter corresponding to the band-pass filtering to be between 0.6 and 0.7 times of the used geological radar antenna main frequency, setting the low-pass frequency F2 of the filter corresponding to the band-pass filtering to be between 0.8 and 0.9 times of the used geological radar antenna main frequency, setting the high-pass frequency F3 of the filter corresponding to the band-pass filtering to be between 1.4 and 1.6 times of the used geological antenna main frequency, and setting the high-frequency shearing frequency F4 of the filter corresponding to the band-pass filtering to be between 2.0 and 2.2 times of the used geological radar antenna main frequency, wherein F1< F2< F3< F4;
accordingly, the band-pass filtering with the specified frequency includes: band pass filtering of the low frequency shear frequency F1, the low pass frequency F2, the high pass frequency F3, and the high frequency shear frequency F4.
Optionally, before S1, the method further comprises:
and S0, performing preprocessing for removing background interference signals on the geological radar data to be processed.
Optionally, S0 includes:
and sequentially processing the geological radar data to be processed by adopting a maximum phase correction mode, a first arrival cutting technology, a direct current signal removing mode and a background filtering mode to obtain the geological radar data after the pre-processing.
Optionally, the geological radar data to be processed comprises: data collected by radars such as Mala, sir4000, EKKOplus or EKKOplus-utral models mainly aim at deep part and weak signal recovery of the data.
Optionally, in S2, the one-dimensional truncation filtering manner is a basewos truncation filtering manner;
the exponential range in the energy decay reverse gain in S1 is between 1.0-1.5.
Optionally, when the target signal is a root system target signal, the geological radar data after the previous processing is firstly subjected to the gain processing in S3, then the one-dimensional truncation filtering in S2 is performed, then the energy attenuation inverse gain processing in S1 is performed, and then the band-pass filtering processing of the specified frequency in S4 is performed.
Optionally, the method further comprises:
and correcting the geological radar data with the deep signals and the weak signals.
(III) advantageous effects
The invention has the beneficial effects that: the method applies a twice filtering and amplitude gain combination method to recover weak signals and deep signals in geological radar data. According to the method, after early-stage editing and modification processing are carried out on geological radar data, once broadband filtering and amplitude recovery are carried out, and integral signal enhancement is carried out on signals; and then, carrying out targeted main frequency filtering and signal enhancement according to the main frequency of the geological radar antenna, namely enhancing and extracting a target signal and a deep signal. Therefore, the method can realize the recovery of normal signals and the deep signal recovery of radar detection in areas with fast signal attenuation (such as loess areas), can also realize the enhancement and extraction of special signals such as holes and root systems, further greatly improves the refined detection depth of the geological radar, and can be widely applied to data processing in shallow layer refined detection fields such as urban underground space detection, root system detection, cavity detection, pipeline detection and the like.
The method belongs to a geological radar signal recovery method with extremely high broad spectrum, is applied to the aspects of broad spectrum amplitude recovery, special amplitude recovery, frequency change, amplitude recovery and the like, and can realize the recovery and identification of weak signals and deep signals of the geological radar. The method of the invention has been successfully applied and tested in the Ordor basin and the Guanzhong basin.
Drawings
Fig. 1A and fig. 1B are respectively a flowchart of a geological radar signal recovery method with multilevel filtering nested amplitude gain according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a process of pre-processing data according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an energy attenuation inverse compensation amplitude gain (first gain) according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating one-dimensional Bass-Watts filtering (first filtering) according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an energy-attenuated inverse-compensated amplitude gain (second gain) according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of geometric diffusion compensated gain amplitude restoration (second gain) of a root system signal according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating bandpass signal filtering and channel equalization (second filtering and modification compensation) according to an embodiment of the present invention;
fig. 8 is a schematic diagram of loess hole signal recovery, which is an example of weak signal recovery according to an embodiment of the present invention;
fig. 9 is a schematic diagram of deep cleavage signal recovery, an example of deep signal recovery, according to an embodiment of the present invention.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
In order to better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Example one
Fig. 1A shows a flowchart of a geological radar signal recovery method with multilevel filtering nested amplitude gain according to an embodiment of the present invention, where the method of this embodiment includes the following steps:
and S1, performing energy attenuation reverse gain processing on the profile of the geological radar data after the early-stage processing to obtain data I of the primary integral signal recovery.
In this embodiment, first, conventional preprocessing is performed on a radar profile (geological radar data to be processed), which mainly includes maximum phase correction → first cut → direct current signal removal → background filtering, and through the processing, conventional instruments and background interference signals in the preceding stage are removed, so as to prepare for later-stage amplitude recovery.
And S2, performing one-dimensional truncation filtering on the first data to obtain a second data from which ultrahigh frequency and ultralow frequency signals are removed.
For example, one-dimensional cut-off filtering is adopted to widen the frequency band, and the filter is set to have the frequency band width of 1/10-5 times of the frequency of the used radar antenna, so as to remove ultrahigh frequency and ultralow frequency signals and highlight signals near the main frequency. That is, the one-dimensional cutoff filter frequency corresponds to a filter frequency set between 1/10-5 times the main frequency of the geological radar antenna used.
And S3, selecting a gain processing technology corresponding to the target signal according to the attribute of the target data, performing gain processing on the second data, and acquiring the second data after the gain processing.
For example, a suitable gain mode may be selected to enhance the target signal. For horizontal layered or oblique signals, gain is carried out by adopting an energy attenuation reverse gain technology; the dovetail-shaped signals (such as roots, holes and pipelines) adopt a geometric divergence compensation gain technology.
And S4, processing the gain-processed data II by adopting band-pass filtering with specified frequency, and acquiring geological radar data with deep signals and weak signals restored, wherein the geological radar data comprises the target data.
For example, the band of the band-pass filtered compressed signal may be selected again, the cut frequency (F1, F4) of the filter is set to be 0.6 to 2.2 times of the main frequency and the bandwidth (F2, F3) is set to be 0.8 to 1.5 around the main frequency of the antenna, and then the band-pass filtering is performed, so that the deep signal and the weak signal can be restored. Specifically, the radar antenna main frequency is taken as a center, the low-frequency shearing frequency F1 of a filter corresponding to band-pass filtering is set between 0.6 and 0.7 times of the used geological radar antenna main frequency, the low-pass frequency F2 of the filter corresponding to band-pass filtering is set between 0.8 and 0.9 times of the main frequency, the high-pass frequency F3 of the filter corresponding to band-pass filtering is set between 1.4 and 1.6 times of the main frequency, and the high-frequency shearing frequency F4 of the filter corresponding to band-pass filtering is set between 2.0 and 2.2 times of the main frequency, wherein F1< F2< F3< F4; that is, the band-pass filtering with a specified frequency includes: band pass filtering of the low frequency shear frequency F1, the low pass frequency F2, the high pass frequency F3, and the high frequency shear frequency F4.
It should be noted that, in step S4, the main frequency range (F2, F3) may be appropriately enlarged and reduced, which is mainly determined according to the depth of the target horizon, if the depth is larger, a part of the low frequency model is appropriately retained, and the values of F1 and F2 are smaller than the normal range; if the target horizon is shallow, the high-frequency signal is properly reserved, and F3 and F4 values are larger than normal.
The method can realize the recovery of normal signals and the deep signal recovery of radar detection in areas with fast signal attenuation (such as loess areas), can also realize the enhancement and extraction of special signals such as holes and root systems, further greatly improves the refined detection depth of the geological radar, and can be widely applied to data processing in shallow layer refined detection fields such as urban underground space detection, root system detection, cavity detection, pipeline detection and the like
Example two
Fig. 1A is a specific flowchart of a geological radar signal recovery method with multilevel filtering nested amplitude gain according to the present invention, and as shown in fig. 1A, the geological radar signal recovery method with multilevel filtering nested amplitude gain includes: 6 steps are as follows: preprocessing, first energy enhancement, Bass Watts filtering, second energy enhancement, band-pass filtering, channel equalization, and the like.
The geological radar signal recovery method with multilevel filtering nested amplitude gain according to the embodiment of the invention is described in detail with reference to fig. 1B to 9.
The first step is as follows: pre-processing of geological radar profile data
The pre-processing of the radar cross section mainly comprises the steps of maximum phase correction → resection first arrival → background filtering and the like. Since the geological radar signal is always transmitted into the ground by air, and the difference of the dielectric constants of the geological radar signal and the air is large, a reflected signal with large amplitude is formed at the joint of the ground and the air, as shown in fig. 1A. According to the characteristic, the first-arrival wave can be cut off according to the maximum phase or the origin point of the first-arrival wave in the embodiment, so that the radar signal is classified into a state with the earth surface as 0, and the depth determination at the later stage is facilitated.
In actual operation, however, due to the difference of geological conditions, the signals of the radar at the junction of the ground and the air are often not on the same horizontal line, but drift. To eliminate these drifts, it is necessary to use a strong amplitude signal at the interface between the ground and the air as a reference surface to adjust the maximum phase of the signal in this region to a uniform level, which is needed to perform maximum phase correction to facilitate the removal of the first arrival waves. And after the first arrival is cut off, 2D background filtering is carried out, mainly transverse air waves are cut off, and meanwhile, the signal amplitude in the section is flattened, so that the purposes of suppressing strong amplitude and enhancing weak amplitude are achieved.
Through the processing, the amplitude is more uniform, and preparation is made for later weak signal and deep signal recovery.
The second step is that: first energy boost. Based on the first step, the energy attenuation reverse gain technology is adopted to perform overall amplitude recovery on the section once, the aim is to amplify the weak amplitude of the section once, and the emphasis is on enhancing the amplitude of the medium depth. The energy attenuation reverse gain adopts an exponential form algorithm, and the gain coefficient is only between 1.0 and 3.0. As shown in fig. 4, the overall signal is significantly enhanced after the reverse gain is attenuated by the energy.
The third step: and performing Bass Wats filtering. On the basis of the first amplitude gain, the section is filtered, but the frequency band is very wide, the main purpose is to consider that the electromagnetic wave signals can generate integer harmonics and fractional harmonics in the process of underground propagation, the parts of the signals close to the main frequency are useful, and the ultra-low frequency and ultra-high frequency signals are harmful signals generally and need to be eliminated. The use of basewins truncation filtering is mainly to eliminate ultra-high frequency and ultra-low frequency signals. In order to achieve the above purpose, a one-dimensional cutoff filter is adopted, 1/10 times of main frequency and 5 times of main frequency are adopted as a cutoff frequency boundary of the filter, and then Bass Wos filtering is carried out, so that the purpose can be achieved.
The fourth step: the second energy boost. And starting to perform important point recovery on the target signal on the basis of the third step. The target signal is that the radar wave signal presents different characteristics according to the characteristics of the stratum, such as water level and layered geological construction, and generally presents a transverse or oblique continuous bright line, which is called a linear signal; for example, when tree roots, loess holes, underground pipes, etc. are constructed, radar wave signals generally present the characteristics of arc lines similar to the shapes of swallows from the tail, and the international name is swallowtail-shaped signals. These two shapes of signals mainly constitute the radar profile signal. According to the research target requirement, if the target signal is a linear signal, an energy attenuation reverse gain technology is adopted, and the linear signal can be recovered when the gain factor is 1.0-15; if the target signal is a dovetail signal, a geometric diffusion compensation signal gain technology is selected. As shown in fig. 5, the linear signal is well restored after the energy attenuation reverse gain technique is adopted; fig. 6 shows how the geometric diffusion is used to recover the root signals of salix matsudana, which illustrates that the recovery effect of the geometric diffusion gain on the dovetail signals is better.
The fifth step: and (4) band-pass filtering. After the target signal is recovered, main frequency filtering can be performed, the purpose is to highlight the main frequency signal and suppress interference signals, and band-pass filtering is adopted in the technical process. Firstly, a band filter is set to be centered on an antenna main frequency, the shearing frequency (F1, F4) of the band filter is set to be 0.6-2.2 times of the main frequency, and the bandwidth (F2, F3) is set to be 0.8-1.5; then, band-pass filtering is carried out to highlight the main frequency signal. As shown in fig. 7, after band-pass filtering, the signal hidden in the deep part can be clearly seen, and the purpose of deep part signal recovery is achieved. It should be noted that, the setting of the band-pass filter needs to be adjusted correspondingly according to the depth of the target, if the detected target is shallow, signals of high frequency bands can be reserved properly, and the values of F3 and F4 can be amplified properly; if the probing depth is deeper, signals of lower frequency bands are required to be reserved, and the values of F3 and F4 can be properly reduced.
And a sixth step: after the 5 th step of processing, the recovery of weak signals and deep signals of any geological radar signals can be basically realized, but the signals are often not uniform in transverse distribution, and the channel equalization amplitude averaging is needed to increase the continuity of the same phase axis.
The recovery of weak signals and deep signals of geological radar signals can be realized by completing the steps 1-6, and tests show that the set of technical process can be simultaneously suitable for deep and weak signal analysis of Mala, sir4000, EKKOplus-utral and other types of radars; meanwhile, the process has the characteristics of high reliability, easiness in implementation, simple operation and the like, and corresponding modules are arranged in general earthquake and radar software. Fig. 2-7 show the data from the mala radar system, fig. 8 shows a weak signal recovery example of recovering the detection of the underground holes in the loess region by applying the technical process, the applied antenna is EKKOplus100Mhz antenna, the detection target is to find an underground loess hole with a depth of more than ten meters, and a clearer hole signal (a cluster of arc-shaped event axes) can be obtained after the process processing; fig. 9 illustrates the application of this set of techniques to the recovery of deep signals. EKKOplus-utral enhanced 25Mhz antenna is applied to data acquisition, the cleavage characteristic of a shallow rock stratum with the detection target of 150 meters is detected, clear rock stratum occurrence information with the depth of 180 meters can be obtained after signal recovery, and the depth of the other side of the geological radar is greatly improved.
According to the method, after early-stage editing and modification processing are carried out on geological radar data, once broadband filtering and amplitude recovery are carried out, and overall signal enhancement is carried out on signals; and then, carrying out targeted main frequency filtering and signal enhancement according to the main frequency of the geological radar antenna, namely enhancing and extracting a target signal and a deep signal. The method belongs to a geological radar signal recovery method with extremely high broad spectrum, is applied to the aspects of broad spectrum amplitude recovery, special amplitude recovery, frequency change, amplitude recovery and the like, and can realize the recovery and identification of weak signals and deep signals of the geological radar.
In addition, the method of the embodiment of the invention is successfully applied and tested in the deldol basin and the Guanzhong basin.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the terms first, second, third and the like are for convenience only and do not denote any order. These words are to be understood as part of the name of the component.
Furthermore, it should be noted that in the description of the present specification, the description of the term "one embodiment", "some embodiments", "examples", "specific examples" or "some examples", etc., means that a specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, the claims should be construed to include preferred embodiments and all changes and modifications that fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention should also include such modifications and variations.
Claims (10)
1. A geological radar signal recovery method based on multilevel filtering nested amplitude gain is characterized by comprising the following steps:
s1, performing energy attenuation reverse gain processing on the profile of the geological radar data after the early-stage processing to obtain data I of primary integral signal recovery;
s2, performing one-dimensional truncation filtering on the first data to obtain second data from which ultrahigh frequency and ultralow frequency signals are removed;
s3, selecting a gain processing technology corresponding to the target signal according to the attribute of the target data, and performing gain processing on the second data to obtain the second data after the gain processing;
and S4, processing the gain-processed data II by adopting band-pass filtering with specified frequency, and acquiring geological radar data with deep signals and weak signals restored, wherein the geological radar data comprises the target data.
2. The method of claim 1, wherein the frequency of the one-dimensional truncated filter in S2 is set to be between 1/10-5 times the main frequency of the geological radar antenna used.
3. The method of claim 1, wherein in S3, if the target signal is a horizontally layered signal or an oblique signal, the gain processing is performed by using an energy attenuation inverse gain technique;
and/or the presence of a gas in the gas,
if the target signal is a dovetail signal, gain processing is carried out by adopting a geometric divergence compensation gain technology.
4. The method of claim 1, wherein in S4
Centering on the main frequency of the radar antenna, setting the low-frequency shearing frequency (F1) of a filter corresponding to band-pass filtering to be between 0.6 and 0.7 times of the used main frequency of the geological radar antenna, setting the low-pass frequency (F2) of the filter corresponding to band-pass filtering to be between 0.8 and 0.9 times of the main frequency, setting the high-pass frequency (F3) of the filter corresponding to band-pass filtering to be between 1.4 and 1.6 times of the main frequency, and setting the high-frequency shearing frequency (F4) of the filter corresponding to band-pass filtering to be between 2.0 and 2.2 times of the main frequency, wherein F1 is more than F2 and less than F3 is less than F4;
accordingly, the band-pass filtering with the specified frequency includes: bandpass filtering with a low-frequency shear frequency (F1), a low-pass frequency (F2), a high-pass frequency (F3), and a high-frequency shear frequency (F4) is employed.
5. The method of claim 1, wherein prior to S1, the method further comprises:
and S0, performing preprocessing for removing background interference signals on the geological radar data to be processed.
6. The method of claim 5, wherein S0 includes:
and sequentially processing the geological radar data to be processed by adopting a maximum phase correction mode, a first arrival cutting technology, a direct current signal removing mode and a background filtering mode to obtain the geological radar data after the pre-processing.
7. The method of claim 5,
the geological radar data to be processed comprises: data collected by a radar of the Mala, sir4000, EKKOplus or EKKOplus-utral model relates to deep and weak signal recovery of the data.
8. The method according to claim 1, wherein in S2, the one-dimensional truncation filtering mode is basewos truncation filtering;
the exponential range in the energy decay reverse gain in S1 is between 1.0-1.5.
9. The method of claim 1, wherein when the target signal is a root system target signal, the pre-processed geological radar data is subjected to gain processing in S3, one-dimensional truncation filtering in S2, energy attenuation inverse gain processing in S1, and band-pass filtering processing at a specified frequency in S4.
10. The method according to any one of claims 1 to 9, characterized in that the method further comprises:
and correcting the geological radar data with the deep signals and the weak signals.
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