J1602-2-7 地中レーダによる埋設管の管径および位置・方向の推定(機械の知能化:異分野からのアプローチ(2))

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  • J1602-2-7 Estimation Method of Pipe Radius, Depth and Direction of Buried Pipe by GPR

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It has been difficult to extract the shape information of buried object such as radius of buried pipe from GPR image. But it is very important to get underground information as a previous knowledge before construction. In this paper, the authors proposed an estimation method of pipe radius, depth and direction of a buried pipe at a time from the propagation time differences between observation points, while scanning an antenna more than once and parallel. By scanning the antenna more than once, we can get multiple data sets containing inclination angle information of the buried pipe, and, by using a propagation time model of the reflected wave from the inclined buried pipe, we establish a method to estimate the pipe radius of buried pipe. The propagation time model consists of the shortest path between the antenna and the buried pipe. And we set a world coordinate system (i = 0) and the i-th moving coordinate system. We consider start point of the first scan as origin of the world coordinate system and another start point of the i-th scan as the origin of the z'-th moving coordinate system. Based on the antenna travelling distances are recorded to estimate the direction of the buried pipe, unknown parameters, i.e., the pipe radius, the depth and the direction of the buried pipe, are estimated by using a nonlinear leastsquares method.

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