WO2017222481A1

WO2017222481A1 - Gyroscopic georadar

Info

Publication number: WO2017222481A1
Application number: PCT/TR2017/000059
Authority: WO
Inventors: Celalettin UÇAR; Fusun BALIK ŞANLI
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-05-26
Filing date: 2017-05-24
Publication date: 2017-12-28
Anticipated expiration: 2018-11-26
Also published as: TR201607013A2; WO2017222481A4

Abstract

In Georadar measurements made on sloping land; Gyroscopic Georadar for eliminating the subsurface positioning error caused by the gyroscopic effect: The Gyroscopic Georadar unit consists of 5 main parts:ihe Georadar ( 1 ) unit, the GNSS / GPS (2) unit, the Digital Gyroscope (3) unit, the Surveying Wheel (4) and the Gyroscopic Georadar Database (GGDB) (5). The spatial location of GNSS / GPS (2) measurement data integrated with the Georadar (1 ) unit and the simultaneous antenna orientations are detected with using the Digital Gyroscope (3), Furthermore all this data are processed in the GGDB (5) Gyroscopic Georadar Database to determine the actual location of the buried object or layer. Gyroscopic Georadar; It allows the creation of true subsurface maps defined in the Universal Transvers Mercator (UTM) with the correct geometry.

Description

GYROSCOPIC GEORADAR

Technical Field

Summary of the invention georadar (GPR) technology used in the detection of buried objects and layers.

Current Technique

GPR (Ground Penetrating Radar) is a geophysics method which is used in serching ojects in shallow depth of earth layers. In the light of the developments happened in the field of electronic engineering during the last three decades, it is now more affordable, fast, and precise to measure the speed of light, which was expensive and troublesome before. These developments not only provided to have precise measurements of the speed of light, but also provided researchers to be able to measure all the signals that are closely moving as fast as the speed of light underground in nanometrycal detail, and made it possible to reach accurate results in shallow geophysics. These studies and improvements lead to the GPR applications. GPR was first developed to measure the thickness of the ice. By the help of seismic data acqusiton technics, data that had been measured in natural ground conditions reached to the depth of 10-20 metres. Today, GPR method is widely used in researches in shallow ground and archeometry.GPR, which was started to be used in mining and geologic studies in the beginning of 70's, was used to investigate shallow depths in 80's with the 500 MHz -IGHz antennas which gave better resolution. Thus amonng the studies publised in these decades it is not surprising to find archeological studies. Then in the beginning of 1990s, antennas of low(10, 20 ve 50 MHz) and high (2,5-3 GHz) frequency were started to be used in the area.Finally, GPR was started to used in the fields of mining, Stratigraphy, inspection of road covering, structures, constructions, water detection etc (Alp, et al., 2003).

The GPR method is based on the transmission of electromagnetic pulses, which then propagate as waves, into the ground and measuring the time elapsed between their transmission, reflection off buried discontinuities, and reception back at a surface radar antenna. Each physical or chemical change in the ground through which the radar waves pass will cause some of that energy to be reflected back to the surface, while the remainder continues to propagate deeper until it finally dissipates. Buried discontinuities where reflections occur are usually created by changes in the electrical or magnetic properties of the rock, sediment or soil, variations in their water content, lithologic changes, or changes in bulk density at stratigraphic interfaces (VanDam and Schlager 2000). Reflections also are generated when radar energy passes across interfaces between archaeological features and the surrounding matrix. Void spaces in the ground, which may be encountered in burials, tombs, tunnels, caches, or pipes, will also generate significant radar reflections because of a similar change in radar wave propagation velocity. Many bed boundaries and other discontinuities in the ground will reflect a wavelet of energy (a positive and negative amplitude wave) back to the surface to be recorded. A composite of many wavelets that are recorded from many depths in the ground produces a series of reflections generated at one location, called a reflection trace.

Many manufacturers are marketing systems that can be used by one person, with the GPR control unit, power sources, and antennas all placed on a wheeled cart or carried on a backpack for nontethered transport within a grid. To create a vertical display of the subsurface reflections, all recorded reflection traces, no matter what the acquisition method, are displayed in a format where the two-way travel time or approximate depth of the reflected waves is plotted on the vertical axis with the surface location on the horizontal axis.

Figure 1: Georadar (GPR) System

In standard two-dimensional reflection profiles that are produced by moving the antennas continuously across the ground, pulses of radar energy are generated at a set time interval, and the horizontal scale will vary because of changes in the speed at which the antennas are moved. Depending on variability in the speed at which the antennas are pulled along the ground, the number of reflection traces collected per unit of distance covered will also vary, making the horizontal scale nonlinear.

When a survey wheel is used or antennas are moved in steps, manual marks of this sort are not necessary, and antenna pulling is an easier task. Another important aspect of moving the antennas along the ground is making sure that the antennas are in the same orientation and the same distance above the ground or are directly touching it at all times. Changes in antenna orientation with respect to the ground can potentially cause variations in the recorded reflections that can be confused with "real" material variations in the ground. This phenomenon is called coupling loss. This error refers to the tilt and turn of the receiving and transmitting antenna relative to each other, but the changing antenna orientation along with the terrain for each point is also an important source of error affecting the modeling.

When the ground surface is rough, uneven, or sloping, closely spaced topographic elevations along each survey transect must be obtained so that corrections of subsurface reflections can be made during postacquisition processing (Sun and Young 1995). If the ground is evenly sloping, it may only be necessary to survey the beginnings, ends, and a few elevations along each transect, or at each change of slope, and then interpolate elevations in between to save surveying time. When surface irregularities are numerous, elevation surveying must be done at more frequent intervals (perhaps every meter or less), and data processing becomes more of a chore.

Ground-penetrating radar systems also have the ability to collect individual reflection traces in steps along a transect instead of being moved continuously. During step acquisition, the smaller the spacing between steps, the greater the number of reflection traces recorded per unit distance, with a corresponding increase in subsurface coverage and therefore resolution. The step acquisition method, however, necessitates more field time because the antennas must be manually moved to each step for each reflection trace to be recorded and therefore less data can be acquired in a given amount of time. Most systems can be programmed to collect data with a survey wheel, or some similar device that can measure where the antennas are in distance along each transect, which can expedite data processing as all recorded reflection traces can be assigned a specific surface location. A number of prototype systems that are in the experimental stage use global positioning systems or self-tracking laser theodolites to measure distance and location of the antennas on the ground, but they have not as yet been commonly used in archaeology (Lehmann and Green 1999).

A series of reflection traces collected along a transect that are produced from a buried layer will generate a horizontal or subhorizontal line in profiles (either dark or light in gray scale reflection profiles) that is referred to simply as a planar reflection. These types of distinct reflections are usually generated from a subsurface boundary such as a stratigraphic horizon or some other physical discontinuity such as the water table, a buried soil horizon, or a horizontal feature of archaeological interest. There can also be point source reflections that are generated from one distinct aerially restricted feature or object in the subsurface. The buried materials that generate these types of point source reflections could be individual rocks, metal objects, pipes that are crossed at right angles, and a great variety of other smaller things of this sort. They are visible in two-dimensional profiles as reflection hyperbolas, even though they were generated from a "point," or aerially restricted feature in the ground. A large number or density of hyperbolas in a reflection profile can often make interpretation difficult because many closely spaced hyperbolic reflections produce very complex and "busy" profiles

Point source reflection hyperbolas, sometimes termed diffractions, are generated because most GPR antennas produce a transmitted radar beam that propagates downward from the surface in a conical pattern, radiating outward as energy travels to depth.

Figure 2: Creation of the reflection hyperbola Generation of a Reflection Hyperbola. The conical projection of radar energy into the ground will allow radar energy to travel in an oblique direction to a buried point source (1) as seen in A. The two-way time is recorded and plotted in depth directly below the antenna where it was recorded (2). When many such reflections are recorded as the surface antennas move toward and then away from a buried object, the result is a reflection

hyperbola (3), when all traces are viewed in profile, as seen in B.

Radar energy will therefore be reflected from buried features that are not located directly below the transmitting antenna but are still within the "beam" of propagating waves. Oblique radar wave travel paths to and from the ground surface are longer (as measured in radar travel time), but reflections generated from objects not located directly below the antennas will still be recorded as if they were directly below, but just deeper in the ground. As the surface antenna moves closer to a buried point source, the receiving antenna will continue to record reflections from the buried point source prior to arriving directly on top of it and continue to "see" it after it has passed. A reflection hyperbola is then generated because the time it takes for the energy to move from the antenna to the object along many oblique paths is greater the farther the antenna is away from the source of the reflection. As the antenna moves closer to the buried object, the reflection from it is recorded closer in time until the antenna is directly on top of it. The same phenomena is repeated in reverse as the antenna passes away from the source, resulting in a hyperbola where only its apex denotes the actual location of the buried reflection source, with the arms of the hyperbola creating a record of reflections that traveled the oblique wave paths. The presence of reflection hyperbolas is considered by some geophysicists to be a distraction during data interpretation because they are not denoting the "real" location of buried features but are the product of the complex geometry of radar wave travel paths in the ground. Their presence, however, can aid in interpretation because hyperbolas are easily identified in reflection profiles and denote a specific size and possible geometry of objects in the ground. Most important, their utility in determining velocity cannot be overemphasized. This contribution is made possible by the fact that the reflection hyperbolas are produced in the correct geometry.

Georadar (GPR) technique; Especially in slopy and rough terrain, it is not for "planimetric" horizontal distance but for horizontal axial scaling problems because it uses measurement wheel data. Secondly, the variation of altitudes and orientations of antenna relative to each other requires height measurement as often as possible on the profile. Since the embedded object is recorded as if it were underneath it even if it is not completely under the antenna, gyroscopic correction is required for every detail picked on the radargrams. Thus, it is possible to determine the actual coordinates of the buried object. In this way; Road and concrete investigations will increase the positional accuracy of buried soil in non-destructive testing (NDT) research such as mine detection. In this research, the excavation of the soil will be carried out for archaeological purposes with less accuracy than is known. Aim of the Invention

The purpose of this invention is; The gyroscopic effects (antenna's orientation) originating from the slope of the land in the current Georadar (1) technique; "developed by using GNSS / GPS (2) and Digital Gyroscope (3) to modelling and poitioning the buried object that more accurate than current applications by determining the underground real location under UTM projection is to allow the creation of underground maps.

Defining the figures:

Figure 1: Georadar (GPR) System

Figure 2: Creation of the reflection hyperbola

Figure 3: Classic GPR Surveying Technique

Figure 4: The distance calculated by the "Planimetric" coordinates between the profile starting point Xo, Yo and the profile end point Xn, Yn and the distance measured by the GPR Measuring Wheel (4)

Figure 5: UTM coordinate system and local coordinate system of GPR radargram and, Phi Omega Kappa orientations between the two systems.

Figure 6: Gyroscope and its axes

Figure 7: Pick points on radargram. Recording Trace No., Profile Distance and Depth values for burried object or layer using Reflex WIN software.

Figure 8: Gyroscopic Georadar sections; GPR (1), GPS (2), Digital Gyroscope (3). Gyroscopic Georadar Database scheme where synchronization, integration and data processing is provided using the 3 tables as GPS, Points of details to be calculated in UTM coordinates from GPR radargram and, Digital Gyroscop.

Figure 9: Creating a relational database-GGDB (5).

Figure 10: Azimuth angle Figure 11: The phi orientation (Φ) on slope land according to the GPR profile. Length of line segments of a buried object to profile line shown on the figure.

Figure 12: The omega orientation (w) on slope land according to the GPR profile. Pendicular distance of a buried object to profile line shown on the figure. Defining the referance in figures:

1: GPR

2: GNSS/GPS

3: Gyroscope

4: Surveying Wheel

5: GGDB (Gyroscopic Georadar Data Base)

Defining the Tables: Table 1:GPS data Table

Table 2: Gyroscope Data Table

Table 3: Table of Detail Points Picked on Radargram

Table 4: Data Integration Table Definition of the Invention:

It is never certain how a radar signal will follow a route as it descends deep underground. Radar signals do not propagate linearly in the underground like the light rays that emit in space. The route, that a signal follows in the ground becomes progressively more irregular with the increase in depth and the differentiation of the surrounding layers around the buried object. However, the shallow depths, which are non-magnetic permeable or non-electrically conductive homogenous layers that will dissipate energy, are the layers where radar waves generated in the frequency range higher than 900 MHz propogate almost linearly. In this layers, it is only possible to penetrate up to a maximum of 1-2 meters. The gyroscopic correction intended for the invention (Gyroscopic Georadar) applies only to the depths specified in Georadar (1) at the specified frequency ranges.

The Gyroscopic Jeoradar (1) invention consists of the following parts: GPR (1), GNSS-GPS (2), 3 Axis Digital Gyroscop (3) Surveying Wheel (4), Gyroscopic Georadar Database-GGDB (5). Unlike conventional GPR/Georadar measurement, the result of simultaneous recording of GNSS-GPS (2) and Digital Gyroscope (3) data is processed by the Gyroscopic Georadar Database (GGDB) (5), resulting in the underground real location of the buried object based on repositioning in the UTM coordinate system by eliminating gyroscopic (spatial rotation) effects. The point at which the burried object or layer detected on the radargram in the classical GPR/Georadar technique is defined only by a 2D local coordinate system whose start and end points are expressed by the distance and depth value measured by the Measurement Wheel (4) from the beginning of the known measurement profile (Figure 3). In this case, the distance measured by the wheel speed is over the planimetric (latitudinally reduced) distance as shown in Figure 4.

Figure 3: Classic GPR Surveying Technique

Figure 4: The distance calculated by the "Planimetric" coordinates between the profile starting point Xo, Yo and the profile end point Xn, Yn and, the distance measured by the GPR Measuring Wheel (4). This error, which can be further increased due to the slope and irregularity of the 3 axes depending on the tilt and the angular rotations parameters, causes a scale error in the horizontal axis which expresses the distance from the starting point of the Classical GPR/Georadar Radargram. The horizontal distance between two known coordinates with respect to the analytical geometry is calculated by the following formula;

Obtaining the ground-range distance is accomplished by GNSS / GPS (2) measurements made simultaneously with GPR survaying. In this view, each radar reflection trace is defined as the X, Y and Z coordinates with the GNSS/GPS (2) data recorded at the location where the data of the ground underground layers of the GPR antenna are collected. However, on a sloping ground, each orientation parameter according to the GPR/Georadar profile in Country Coordinate System (UTM) is oblique and rotateded as phi, omega, kappa. In other words, Xo, Yo, and Zo which is the starting point of the coordinate system where the radargram is defined. This coordinate system is coinciding with the GPS (2) coordinate system, but it is inclined and rotated by the spatial rotation angles. This second coordinate system needs to be transformed into GPS (2) coordinates, which is the first coordinate system. It is possible to calculate coordinate values in the Country Coordinate System (UTM) (Figure 5) for every detail of the target layer boundaries at the points picked on the radargram, if the digital gyroscope (3) data is collected simultaneously with the GPR and GNSS / GPS (2) and the orientation parameters are known.

Figure 5: UTM coordinate system and local coordinate system of GPR radargram and, Phi Omega Kappa orientations between the two systems. In Fig. 5, we can see that the buried object is located in the radargram (generated by GPR measurement), where Xops-Yops-Zeiipsoidai and buried object position (X₀bject-Yobject-Z₀bject), and "dx" and "dy" representind the spatial deviation caused by terrain inclination.

DEFINING DATA SETS GNSS/GPS DATA

Currently, GNSS/GPS (2) data collected simultaneously with GPR data can be integrated with either Reflex Win software or similar softwares used in GPR data processing. The aim here is to measure the altitude differences continuously to provide topographic correction and to process the latitude/longitude values in the geographic coordinate system on the radargram. In GPR measurement where integration of GNSS/GPS (2) is provided, an integration file with extension ".COR" is produced for each radar reflection trace. As shown in Table 1, this file with the extension ".COR" has Trace Number, Latitude, Longitude and Altitude data for each reflection trace, respectively.The distance between the reflection traces is again obtained with the Measuring Wheel (4) and the reflection traces are automatically generated for the distance ranges specified in the GPR parameter settings. Since this distance measured by the Measuring Wheel (4) is not converted to ground range considering the terrain slope and orientation parameters, despite the GNSS/GPS (2) integration all radargrams produced have coordinate deviations due to horizontal scale error and land slope.

DIGITAL GYROSCOPE DATA

A gyroscope forms a rotor that can perform free motion around the geometric axis. In the space, the center of gravity can be changed to the desired angular position in a plane of suspension (Figure 6). It is able to perceive the changing angle values on this count.

Figure 6: Gyroscope and its axes Nowadays, digital gyroscope (3) sensors, which vary according to the precision levels, can be standardized on platforms such as smart mobile phones and tablets, and there are many models with high precision that are designed to be used in the development of model aircraft, robots and mechatronics. They are offered to users with 2-axis and 3-axis options. The gyroscopic georadar method is modeled by a 3-axis Digital Gyroscope (3). The Digital Gyroscope (3) data is formatted as ".txt" and contains time, phi, omega, and kappa skewness and orientation data for each time interval specified. Angle measurement unit used in modeling is Radyan. Synchronization: The digital gyroscope (3) must be recorded synchronously with a data logger or GPR measurements via a computer, and the temporal synchronization must be based on the UTC time of the GPS (2) data.

Calibration: Before starting the measurement, the digital gyroscope (3) should be calibrated by resetting to the principal axis for the phi and omega spatial rotations and the profile direction for the kappa spatial rotation.

GPR Data:

For the GPR/GPS (2) Combination Method, a GPR unit operating in a frequency range higher than 900 MHz should be used. It is assumed that the GPS (2) antenna is fixed in the vertical position to the GPR unit. GPR data is expressed in two-dimensional radargrams as shown in Figure 7. When radargrams are interpreted, markings called "picks" are made on point targets or layer boundaries. For each picked point, some data can be digitally recorded according to the user's preference, such as Trace No ,the distance from the profile start and amplitude values. In Figure 7, the points for which the actual coordinates are to be calculated are picked on the radargram and the trace no, depth and distance information are recorded for processing in the Gyroscopic Geodatabase (GGDB) (5).

Figure 7: Pick points on radargram. Recording Trace No., Profile Distance and Depth values for burned object or layer using Reflex WIN software.

GYROSCOPIC GEORADAR DATABASE (GGDB) The database GGDB (5) was created using Microsoft Access software. It contains 3 tables, GPS (2), detail points and Digital Gyroscope (3). These 3 tables with GNSS/GPS (2) and Digital Gyroscope (3) data recorded simultaneously with the GPR are integrated using the GGDB (5) database (Figure 8).

Tables

1:GPS Data Table

Table 1; Measurements of GNSS/GPS (2) and simultaneous GPR measurement are integrated with time synchronization by using Reflex Win software, and a file with extension ".COR" is generated. The file ".COR" is converted into a table using Microsoft Excell software. (The table also shows 20 records from the 17418 reflection trace records).

The angle between the starting point and the point where the GPR antenna located is called the Azimuth angle (angle of the magnetic North). It is calculated by using Arctan (dy/dx) equation, dy and dx are evaluated in 4 different ways according to their + / - signs. As shown in Table 1, there is no GNSS/GPS (2) measurement for each reflection trace, and some reflection traces are defined at the same coordinate values. The reason for this is that GNSS / GPS (2) data can not be collected as fast as GPR data. In order to eliminate this error, the distance between the reflection traces obtained by the measurement wheel (4) is converted to graound range using the Digital Gyroscope (3) data (S = r x cos (Φ)). Using the Azimuth angle and the ground range distance from the starting point, the UTM coordinates of each reflection trajectory are recalculated by using the Ygps and Xgps equations. Thus, for the all reflection tracks whose coordinates are now known, the Azimuth angle acording to the profie starting point is recalculated and recorded with a new Magnetic Pole calculation. 2:Gyroscope Data Table

Table 2 contains Digital Gyroscope (3) measurements gathered simultaneously with GPR measurement. The angle unit is radian. It is done in such a way as to record a data in every second from the starting point. The reason for the selection of the time unit in seconds precision is that the time intervals in the GPS (2) table are in seconds as well. It is aimed to reduce the data load, since the time integration in the data integration can not be matched with the GPS (2) table. Phi, Omega and Kappa tilt and rotation values of the digital gyroscope (3) are generated as a function of time and recorded in ".txt" format. This recording with a ".txt" extension of the Digital Gyroscope (3) data is tabulated and saved using Microsoft Excel software for using in the data base.

3:Table of Detail Points Picked on Radargram

Table 3: Trace No., Depth and distance measured from the beginning of the profile are selected from the data for the detail points, for which the UTM coordinate is to be calculated by marking in the GPR radargram. These data is saved with a file with an extension of ".txt". This recording with the ".txt" extension is converted into a table using Microsoft Excel software and saved. 4: GGDB Relationships

Figure 9: Creating a relational database-GGDB (5).

Table 1 and Table 2 are associated with the time column used as a primary key to integrate simultaneously recorded data of GNSS/GPS (2) and Digital Gyroscope (3). There is only one Digital Gyroscope (3) record in the selected time interval, as one at a time, thus there will be no error in associating the tables.

As shown in Figure 9, Table 1 and Table 3 are associated using the Reflection Trace Number (Trace Number) column as the primary key to integrate the GNSS/GPS (2) and the point data picked in the GPR Radargram, which are defined in the same trace number. For each trace_no there is only one GNSS/GPS (2) data as well as only one Picked Point record. Thus no error occurs in the table association.

5: Data Integration

As a result of the relationship of GNSS/GPS (2), Digital Gyroscope (3) and the picked point tables and the database query; data integration of these 3 tables is provided for each picked point (Table 4).

Table 4: Data Integration table for GPR (l)-GPS (2) and Digital Gyroscope (3)

6: Processing Steps

The entire process steps described below are carried out by the GGDB database. All calculations are prepared with SQL codes via "GPS Queryl ". However, in order to make it easier to understand, the steps to be performed after data integration are mathematically formulated.

Azimuth Angle Calculation:

Azimuth is the angle between the magnetic North and GPR profile line (Figure 10).

Figure 10: Azimuth angle

From the beginning of the profile, the displacement amount of the coordinate system in which the GPS antenna defined is represented by "dx" and "dy" on the X axis and Y axis, respectively.

The arctan (dy/dx) value is calculated by Equation 2.

As a result of the calculation of 1^st Azimuth, the angle of the GPR profile route on surface between the magnetic north becomes mathematically defined.

If the Xo and Yo starting point coordinates, the azimuth, and the horizontal distance from the starting point on the profile of a point is known, Xn and Yn coordinates of that point can be calculated with Equation 3 and Equation 4.

The position of the buried object is different from the GPS antenna position, which depends on the phi, omega angles and the depth. In an other expression, UTM (Universal Transvers Mercator) coordinate sytem where the Y_GPS and X_GPS coordinates of the GPS antenna are defined and the local coordinate system where the GPR measurement is expressed in the radargram has an orientation relative to each other as phi and omega angles. This second system which has the orientation can be transformed into the UTM coordinate system with using 3D rotation matrix .

Rotational matrix xyz system for X,Y and Z axes.

The phi, omega and kappa rotational angle values are measured by the digital gyroscope for each trace and are integrated with the help of the (GGDB) database. Since there is no displacement between the axes, they are coincident but spatially rotated at the origin Xo and Yo. Therefore, multiplication of the spatial rotation matrix RcpwK with the the matrix X; the length of line segments, pendicular distance value of the buried object to profile line, and real depth are obtained with the Equation 5, Equation 6 and Equation 7, respectively,

where,

for the rotation matrix RcpwK, dX and dY displacement values are zero "0" and the distance between the buried object and the GPS antenna is dZ (dZ= Antenna Height + Object depth measured from the GPR radargram).

Length of Line Segments

Pendicular Distance of the Buried Object to the Profile Direction

Real Depth

Note: that Equations drawn above with a line are equal to zero.

Figure 11: The phi orientation (Φ) on slope land according to the GPR profile. Length of line segments of a buried object to profile line shown on the figure.

Note: (Figure 11 is described assuming that Omega ( _ω ) and Kappa (K) orientation values are equal "0")

Displacement of buried object on X axes according to the profile direction - Calculation of the length of line segments:

Figure 12: The omega orientation (w) on slope land according to the GPR profile. Pendicular distance of a buried object to profile line shown on the figure. Note: Figure 12 is described assuming that phi (Φ) and Kappa (K) orientation values are equal "0".

Displacement of buried object on Y axes according to the profile direction

Equation 9 can be used for calculating the pendicular distance for the buried object

The hypotenuse of the lengths of line segments and pendicular distance of a buried object to a line converted to graund range and corrected in orientation is the basis to be used in the calculation of UTM coordinates of the buried object. This corrected distance between the GPR and the buried object is calculated as shown in this "L" distance (Equation 10).

Determining the real depth of the detail point picked on radargram, or displacement of the buried object on Z axes

Determining the UTM coordinates of the detail point which picked on radargram is possible with calculating the residual angle between profile direction and buried object position and then summed it up with the 2^nd Azimuth. For this purpose, length of line segments and pendicular distance of a point to a line values are used and the residual angle is calculated by Equation 12.

However, this angle value is also calculated as the same method for azimuth calculation; it refers to the axial deviation that is from the profile line but not to the magnetic north. Because the length of line segments and pendicular distance of the buried object values used instead of "dy" and "dx" values refering to the horizontal and vertical axis displacements. For the traces where the length of line segments and pendicular distance of the buried object values are calculated, this divergence angle is added to or subtracted from the 2^nd azimuth angle value to calculate the 3^rd azimuth angle. Determining the Buried Objects Coordinates; XUTM, YUTM, Z(elipsoidal)

As a result of the above described steps X_GPS, Y_GPS coordinates of the entire reflection traces, which are defined on the GPR radargram, are calculated thanks to the simultaneous GPS and GPR measurements. In order to calculate the elevaion value (Z_euip_SOidaiX the elevation information from the GPS measurements and the amount of displacement over the Z axis calculated in Equation 11 are both used. Horizontal distance (L) between the buried object and the position of GPR calculated with planimetric coordinates (x,y) and 3^th Azimuth angle value is calclated as described above. Finally, using the orientation parameters and the rotational matrix calculation (namely, Equations 13, 14 and 15), it is now possible to determine the real position of the buried object coordinates; XU_TM, YU_TM and Z_eupsoidai.

Application of the Invention to Industry

Invention "Gyroscopic Georadar"; can be use for all application area of classic GPR such as land surveying, road construction control, buried pipe and cable research, detection of anti tank and anti personel weapons, tunnel research, structure control, Non-Destructive Testing Applications, archeogeophysical investigations such as the finding of ancient city, temples, graves, walls and etc., and detection of prison escape routes, researches on finding corpses and mass graves. The invention is producible and usable and can be applied to the industry.

Claims

1) The invention is a georadar, characterized in that; The Digital Gyroscope (3) has the method of GNSS / GPS (2) and the method of Gyroscopic Georadar Database (GGDB) (5) which determines the actual location of the buried observer, which enables the correction of the gyroscopic effects due to the slope of the land.

2) The georadar of Claim 1, characterized in that; It is a Georadar with GNSS / GPS (2) integration capability and Electromagnetic wave frequency above 900 Mhz, which can measure profile distance with the measuring wheel.

3) The GNSS / GPS (2) of claim 1, characterized in that: It is integrated with Georadar and the GNSS / GPS (2) antenna is positioned perpendicular to Georadar. 4) The georadar of Claim 1 , characterized in that; (3) having the ability to measure the angular velocities of the 3 -axis spatial rotation angles and allowing digital data transmission.

5) The invention is a gyroscopic geodatabase (GGDB) method (5), characterized in that; Integration of Georadar, GNSS / GPS (2) and Digital Gyroscope (3) data

- Processing of integrated data,

-Topographic correction,

- Elimination of Gyroscopic Effects,

- Determination of the actual depth of the implied object or layer from the surface,

- It is possible to calculate the X, Y and Z (ellipsoidal) coordinates defined in the UTM (Universal Transvers Mercator) projection of the object or layer.