Estimating Features of Underground Utilities: Hybrid GPR/GPS Approach

AbstractGround penetrating radar (GPR) is capable of detecting, locating, and characterizing underground utilities in a non-destructive manner. However, processing raw GPR scans to estimate the buried depth and radius of underground utilities remains a challenge in practice, which can be attributed to two main constraints: (1) the necessity of the GPR scanning trajectory being perpendicular to the centerline of the utility to be scanned and (2) the requirement of knowing either the velocity of the GPR electromagnetic (EM) waves traveling through heterogeneous soils or the range of the utility’s radius. This paper presents a novel method to overcome the two limitations by simultaneously estimating the radius and the buried depth of underground utilities based on GPR scans and auxiliary global positioning system (GPS) data. First, GPR scans are pre-processed to extract raw data points. Thereafter, a generic hyperbola equation is proposed to model GPR raw data, which incorporates the relative angles between ...