CN107861164A - The method and device of the data processing of three-dimensional GPR, three-dimensional GPR - Google Patents

Abstract

The embodiment of the present invention discloses a data processing method and device of a three-dimensional ground-penetrating radar, and a three-dimensional ground-penetrating radar. The reference position of the reference point on the radar, and then calculate the target position of each detection point according to the reference position of the reference point and the relative position of each detection point relative to the reference point, and compare the target position and the target position to the preset area The detection results of the detection are stored correspondingly according to the preset format. In this method, the position of each detection point is calculated from the reference position and the corresponding relative position, and the target position is the position in the same coordinate system, which realizes the unified management of the coordinate positions of each detection point. The target position in each detection point and the corresponding detection results are stored in a preset format, thus realizing the commonality of 3D GPR data between different instruments and different software.

Description

Three-dimensional ground-penetrating radar data processing method and device, three-dimensional ground-penetrating radar

technical field

Embodiments of the present invention relate to the technical field of geological detection, in particular to a method and device for processing data of a three-dimensional ground-penetrating radar, and a three-dimensional ground-penetrating radar.

Background technique

Ground-penetrating radar is a device that uses an antenna to emit high-frequency pulsed electromagnetic waves to detect targets. In recent years, ground penetrating radar, especially three-dimensional ground penetrating radar, has been used more and more. However, the data of the 3D ground penetrating radar is stored in sections according to the channel and construction progress, and each section and channel are stored as independent files. These independent files do not contain absolute coordinates, and the external GPS files are only the coordinates of the radar center track, and do not contain the coordinates of each channel and each detection point. The supporting processing and interpretation software of instruments from different manufacturers has its own independent coordinate system, and these independent files can be imported as needed. But many instrument systems do not have an interface for coordinate output. As a result, independent files from different vendors cannot be used universally. In addition, the 3D GPR instruments of different manufacturers have their own internal formats, so the 3D GPR data of different manufacturers cannot be used in common.

Therefore, in the process of realizing the embodiment of the present invention, the inventor found that in the existing 3D GPR, the files used to represent the positions corresponding to each detection point are only the files of the center track, and it is impossible to realize the coordinates of each detection point. Unified management of locations, and the coordinates and data files of instruments from different manufacturers cannot be used in common.

Contents of the invention

The technical problem to be solved by the present invention is how to solve the existing three-dimensional ground penetrating radar, the file used to represent the position corresponding to each detection point is only the file of the center track, and the unified management of the coordinate position of each detection point cannot be realized, and Coordinates and data files between instruments from different manufacturers cannot be used universally.

In view of the above technical problems, an embodiment of the present invention provides a data processing method of a three-dimensional ground penetrating radar, including:

During the process of the three-dimensional ground-penetrating radar detecting the preset area, the reference position of the preset reference point on the three-dimensional ground-penetrating radar is obtained in real time;

For each detection point of the three-dimensional ground penetrating radar, obtain the relative position of the detection point relative to the reference point, and calculate the target position of the detection point according to the relative position and the reference position;

storing the detection result of detecting the preset area at the target position and the detection point according to a preset format;

Wherein, during the process of the three-dimensional ground-penetrating radar detecting the preset area, the three-dimensional ground-penetrating radar detects the preset area every time it advances a preset distance; each time the three-dimensional ground-penetrating radar detects , the position used for detection on each channel on the three-dimensional ground penetrating radar is the detection point.

Optionally, acquiring the reference position of the preset reference point on the 3D GPR in real time during the process of the 3D GPR detecting the preset area includes:

Acquire the latitude and longitude of the reference point in real time during the process of detecting the preset area by the three-dimensional ground penetrating radar;

The latitude and longitude are converted into geodetic coordinates, and the position determined according to the geodetic coordinates is used as the reference position.

Optionally, the reference point is set between two channels of the three-dimensional ground penetrating radar located at the central position, and the distance between the reference point and the two channels located at the central position is equal.

Optionally, storing the detection result of detecting the preset area at the target position and the detection point according to a preset format includes:

Taking the target position as the track head corresponding to the detection result of the detection point detecting the preset area at the target position, converting the target position and the corresponding detection result of each track head into SEG-Y Formatted and stored.

Optionally, also include:

After receiving the instruction to read the detection result of the detection point of the preset track number to detect the preset area, read the target position and corresponding position of the detection point from the track head of the detection point corresponding to the preset track number detection results.

In a second aspect, the present invention also provides a three-dimensional ground-penetrating radar, including a GPS positioning module arranged at a reference point on the three-dimensional ground-penetrating radar;

During the process of the three-dimensional ground penetrating radar detecting the preset area, the GPS positioning module acquires the latitude and longitude of the reference point in real time, converts the latitude and longitude into geodetic coordinates, and uses the geodetic coordinates as the reference position ;

For each detection point, calculate the target position where the detection point is located according to the relative position of the pre-stored position of the detection point relative to the reference position;

Taking the target position as the track head corresponding to the detection result of the detection point detecting the preset area at the target position, converting the target position and the corresponding detection result of each track head into SEG-Y Formatted and stored.

Optionally, also include:

After receiving the instruction to read the detection result of detecting the preset area by the detection point with the preset track number, output the target position and the corresponding detection result stored in the track head according to the SEG-Y format.

In a third aspect, the present invention also provides a data processing device of a three-dimensional ground penetrating radar, including:

An acquisition module, configured to acquire a reference position of a preset reference point on the three-dimensional ground-penetrating radar in real time during the process of the three-dimensional ground-penetrating radar detecting a preset area;

A calculation module, for each detection point of the three-dimensional ground penetrating radar, to obtain the relative position of the detection point relative to the reference point, and calculate the relative position of the detection point according to the relative position and the reference position target location;

A storage module, configured to store the target position and the detection result of the detection point detecting the preset area at the target position according to a preset format.

Optionally, the acquisition module is also used to acquire the latitude and longitude of the reference point in real time during the process of the three-dimensional ground-penetrating radar detecting the preset area; convert the latitude and longitude into geodetic coordinates, according to the The position determined by the geodetic coordinates is used as the reference position.

Optionally, the reference point is set between two channels of the three-dimensional ground penetrating radar located at the central position, and the distance between the reference point and the two channels located at the central position is equal.

Optionally, the storage module is further configured to use the target position as the track head corresponding to the detection result of the detection point detecting the preset area at the target position, and store the target at each track head The positions and corresponding detection results are converted to SEG-Y format and stored.

Optionally, the storage module is further configured to, after receiving an instruction to read the detection result of detecting the preset area at the detection point with the preset track number, select the The target position and corresponding detection results are read within the head.

In a fourth aspect, the present invention also provides an electronic device, comprising:

at least one processor, at least one memory, a communication interface, and a bus; wherein,

The processor, the memory, and the communication interface complete mutual communication through the bus;

The communication interface is used for information transmission between the electronic device and the device for positioning the reference point on the three-dimensional ground penetrating radar;

The memory stores program instructions executable by the processor, and the processor invokes the program instructions to execute the method described in any one of the above.

In a fifth aspect, the present invention also provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the computer described in any one of the above. Methods.

Embodiments of the present invention provide a method and device for data processing of a three-dimensional ground-penetrating radar, and a three-dimensional ground-penetrating radar. During the process of detecting a preset area by the three-dimensional ground-penetrating radar, the method acquires data set in the three-dimensional ground-penetrating radar in real time. The reference position of the reference point on the radar, and then calculate the target position of each detection point according to the reference position of the reference point and the relative position of each detection point relative to the reference point, and compare the target position and the target position to the preset area The detection results of the detection are stored correspondingly according to the preset format. In this method, the position of each detection point is calculated through the reference position and the corresponding relative position, and the target position is the position under the same coordinate, which realizes the unified management of the coordinate positions of each detection point. On the other hand, the target position in each detection point and the corresponding detection results are stored according to the preset format, thus realizing the commonality of files between different instruments and different software.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic flow chart of a method for data processing of a three-dimensional ground penetrating radar provided by an embodiment of the present invention;

Fig. 2 is a schematic flow chart of the data processing of the three-dimensional ground penetrating radar provided by another embodiment of the present invention;

Fig. 3 is a schematic diagram of relative positions of detection points of a three-dimensional ground penetrating radar provided by another embodiment of the present invention;

Fig. 4 is a structural block diagram of a data processing device of a three-dimensional ground penetrating radar provided by another embodiment of the present invention;

Fig. 5 is a structural block diagram of an electronic device provided by another embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Fig. 1 is a schematic flow chart of the method for data processing of the three-dimensional ground penetrating radar provided by the present embodiment, referring to Fig. 1, the method includes:

101: During the process of the three-dimensional ground penetrating radar detecting a preset area, obtain in real time the reference position of the preset reference point on the three-dimensional ground penetrating radar;

102: For each detection point of the three-dimensional ground penetrating radar, obtain the relative position of the detection point relative to the reference point, and calculate the target position of the detection point according to the relative position and the reference position;

103: Store the target position and the detection result of detecting the preset area at the target position by the detection point according to a preset format;

Wherein, during the process of the three-dimensional ground-penetrating radar detecting the preset area, the three-dimensional ground-penetrating radar detects the preset area every time it advances a preset distance; each time the three-dimensional ground-penetrating radar detects , the position used for detection on each channel on the three-dimensional ground penetrating radar is the detection point.

It should be noted that the method provided in this embodiment is executed by a device capable of executing the above method, for example, a device capable of executing the above method and capable of communicating with a three-dimensional ground penetrating radar, which is not specifically limited in this embodiment. The method provided in this embodiment can be used in three-dimensional ground penetrating radar.

It should be noted that the reference point is a point on the 3D GPR, and the reference point is usually selected as the central position determined by all detection points of the 3D GPR. The reference position is a position corresponding to the reference point, and the reference position and the target position are represented by the same coordinate system. For example, both the reference position and the target position are represented by coordinates in geodetic coordinates, for example, both include easting coordinates, northing coordinates and elevation. The reference position and the target position are characterized by the same coordinate system in order to unify the positions of each detection point in the same coordinate system and realize the unified management of the position coordinates of each detection point.

The antenna array is the part used for detection on the 3D ground penetrating radar. When the 3D ground penetrating radar advances under the traction of the trailer, each detection point detects the preset area and obtains the detection results. At the same time, the The position of the detection result is obtained for characterization, the target position is obtained, and the detection result and the target position are stored correspondingly. When the detection result of a certain position needs to be known, the target position is directly located according to the coordinates of the position, thereby obtaining the target The detection result corresponding to the position.

It can be understood that, while correspondingly storing the target position and the detection result of the detection point detecting the preset area at the target position, the artificial number (track number) of the detection point can also be correspondingly stored. The detection results of the target position and the detection point in the target position are stored in the preset area according to the preset format, which is to facilitate the unified management of the detection data of different instruments and improve the utilization rate of data. For example, the preset format is the SEG-Y format.

The relative position is the position of each detection point relative to the reference point. When the reference point is located at the center of the 3D ground penetrating radar, the distance between each detection point and the reference point is known to obtain the relative position, and the target is calculated by the relative position and the reference position The position method is a geometric solution problem. The target position in this embodiment can be solved by referring to the known position of the center point of the rigid object and solving the positions of other points on the rigid object. The comparison in this embodiment is not described in detail.

This embodiment provides a data processing method of a three-dimensional ground-penetrating radar, which acquires the reference position of the reference point set on the three-dimensional ground-penetrating radar in real time during the process of the three-dimensional ground-penetrating radar detecting a preset area, Then, according to the reference position of the reference point and the relative position of each detection point relative to the reference point, the target position of each detection point is calculated, and the target position and the detection results of the preset area at the target position are detected according to the preset format stored accordingly. In this method, the position of each detection point is calculated through the reference position and the corresponding relative position, and the target position is the position under the same coordinate, which realizes the unified management of the coordinate positions of each detection point. On the other hand, the target position in each detection point and the corresponding detection results are stored according to the preset format, thus realizing the commonality of files between different instruments and different software.

Furthermore, on the basis of the above-mentioned embodiments, the real-time acquisition of the reference position of the preset reference point on the three-dimensional ground-penetrating radar during the process of detecting the preset area by the three-dimensional ground-penetrating radar includes :

Acquire the latitude and longitude of the reference point in real time during the process of detecting the preset area by the three-dimensional ground penetrating radar;

The latitude and longitude are converted into geodetic coordinates, and the position determined according to the geodetic coordinates is used as the reference position.

It should be noted that the acquisition of the latitude and longitude of the reference point can be achieved through a GPS positioning module set on the reference point. For example, the GPS positioning module at the reference point acquires the latitude and longitude at the reference point in real time, and converts the latitude and longitude into geodetic coordinates, which are the reference position.

This embodiment provides a data processing method of a three-dimensional ground penetrating radar, the method converts the latitude and longitude of the reference point into the position under the geodetic coordinates, thereby unifies the target position into the position of the geodetic coordinates, and realizes the unification of the position coordinates manage.

Furthermore, on the basis of the above-mentioned embodiments, the reference point is set between the two channels at the central position of the three-dimensional ground penetrating radar, and the reference point is connected to the two channels at the central position. The distances of the channels are equal.

This embodiment provides a data processing method of a three-dimensional ground penetrating radar. In the method, a reference point is set at the central position of the three-dimensional ground penetrating radar, so as to facilitate calculation of the relative position of each detection point relative to the reference point.

Furthermore, on the basis of the above-mentioned embodiments, the detection result of detecting the preset area at the target position and the detection point at the target position is stored according to a preset format, including:

Taking the target position as the track head corresponding to the detection result of the detection point detecting the preset area at the target position, converting the target position and the corresponding detection result of each track head into SEG-Y Formatted and stored.

This embodiment provides a method for data processing of three-dimensional ground penetrating radar, the method unifies the target position and the format of the detection results, and adopts the standard SEG-Y format for unification, so that it is convenient to call the data of each detection point at any time , which provides convenience for the common use of files between different instruments and different software.

Furthermore, on the basis of the above-mentioned embodiments, it also includes:

After receiving the instruction to read the detection result of the detection point of the preset track number to detect the preset area, read the target position and the corresponding detection result from the track head of the detection point corresponding to the preset track number .

This embodiment provides a method for data processing of a three-dimensional ground-penetrating radar. The method realizes the external positioning of the coordinates of all detection points of the three-dimensional ground-penetrating radar, and puts the coordinates into the track head of the corresponding detection data, and puts the coordinates into the track head of the track head. The data is converted into SEG-Y format, so as to realize the free transfer of data between different instruments and different software of 3D ground penetrating radar data.

In a second aspect, embodiments of the present invention also provide a three-dimensional ground-penetrating radar, including a GPS positioning module arranged at a reference point on the three-dimensional ground-penetrating radar;

During the process of the three-dimensional ground penetrating radar detecting the preset area, the GPS positioning module acquires the latitude and longitude of the reference point in real time, converts the latitude and longitude into geodetic coordinates, and uses the geodetic coordinates as the reference position ;

For each detection point, calculate the target position where the detection point is located according to the relative position of the pre-stored position of the detection point relative to the reference position;

Taking the target position as the track head corresponding to the detection result of the detection point detecting the preset area at the target position, converting the target position and the corresponding detection result of each track head into SEG-Y Formatted and stored.

Furthermore, on the basis of the above-mentioned embodiments, it also includes:

After receiving the instruction to read the detection result of detecting the preset area by the detection point with the preset track number, output the target position and the corresponding detection result stored in the track head according to the SEG-Y format.

This embodiment provides a three-dimensional ground-penetrating radar, the three-dimensional ground-penetrating radar acquires the reference position of the reference point set on the three-dimensional ground-penetrating radar in real time during the process of detecting the preset area by the three-dimensional ground-penetrating radar, and then according to The reference position of the reference point and the relative position of each detection point relative to the reference point are calculated to calculate the target position of each detection point, and the target position and the detection results of the preset area at the target position are corresponding to the preset format Store it up. In the 3D ground penetrating radar, the position of each detection point is calculated from the reference position and the corresponding relative position, and the target position is the position under the same coordinates, which realizes the unified management of the coordinate positions of each detection point. On the other hand, the target position in each detection point and the corresponding detection results are stored according to the preset format, thereby realizing the commonality of files between different instruments and different software at the detection point.

As a specific embodiment, Fig. 2 shows a schematic flow chart of the data processing of the three-dimensional ground penetrating radar provided in this embodiment, referring to Fig. 2, the processing process includes:

201: Convert the GPS latitude and longitude coordinates (latitude and longitude of the reference point) of the center position (reference point) of the three-dimensional ground penetrating radar into the GPS geodetic coordinates (reference position) of the center position of the three-dimensional ground penetrating radar.

202: Positioning procedure. According to the reference position of the reference point and the relative position of each detection point on the 3D GPR relative to the reference point, the geodetic coordinates (target position) of each detection point can be obtained through the positioning program.

203: For the coordinates (target positions) of each detection point on all channels of the 3D ground penetrating radar, add the coordinates of each detection point to the trace head of each data track. That is, the target position is used as the track head corresponding to the detection result of the detection point detecting the preset area at the target position.

204: convert to a standard SEG-Y format (preset format). That is, the target position of each head and the corresponding detection result are converted into SEG-Y format and stored.

To sum up, this method converts the longitude and latitude coordinates of the detection point of the center position of the 3D ground penetrating radar into geodetic coordinates. Using the known position of the center of the rigid object to calculate the position of other particles on the rigid object, the compiled positioning program calculates the geodetic coordinates of other detection points through the geodetic coordinates of the detection point at the center position of the three-dimensional ground penetrating radar. The 3D ground penetrating radar data and coordinate files are imported by using the 3D ground penetrating radar general software, and the coordinates of each detection point are processed to meet the accuracy requirements and then added to the head of the detection result corresponding to each detection point. Through the software, all the data of each detection point is output in the standard SEG-Y format, realizing the free conversion of the 3D ground penetrating radar data between different instruments and different software.

Figure 3 is a schematic diagram of the relative position of the reference point of the 3D ground penetrating radar. See Figure 3. The 3D ground penetrating radar includes 16 channels. The serial numbers are 8 and 9, the reference point is located between the channels with the serial number 8 and the serial number 9, and the distance between the reference point and the channel 8 is equal to the distance between the reference point and the channel 9, and the reference point is located at 301 in FIG. 3 .

This embodiment utilizes the position of the center of the known rigid object to calculate the method for the positions of other mass points on the rigid object, and utilizes the coordinates (reference position) of the central position detection point (reference point) to obtain the coordinates (target position) of other detection points through calculation. ), so as to realize the positioning of all data of 3D ground penetrating radar.

First, the latitude and longitude coordinates of the center position (reference point) of the 3D ground penetrating radar are converted into geodetic coordinates (reference position).

According to the known coordinates of the center position of the 3D ground penetrating radar and the direction of progress of the center track, use the VC language to compile a calculation program. The input file is the position information of the GPS point, including the track number, east coordinate, north coordinate, elevation, and the output The file is in ASCII format and contains the location information of each detection point, including track number, east coordinate, north coordinate, elevation, etc. The position coordinates of all detection points on the 3D ground penetrating radar are obtained, so as to realize the external positioning of all data of the 3D ground penetrating radar.

Use the radar general processing software to import the 3D ground penetrating radar detection results, and process the calculated coordinates to meet the accuracy requirements and store them in the head of the 3D ground penetrating radar detection results, and set the data processing time to be used The corresponding road head, output the 3D ground penetrating radar data in the standard SEG-Y format. In this way, the free conversion of 3D ground penetrating radar data between different instruments and different software is realized.

This embodiment utilizes the method of "knowing the position of the center of the rigid object, and calculating the positions of other particles on the rigid object", and by calculating the latitude and longitude coordinates of the center position (reference point) of the three-dimensional ground penetrating radar, the ground of other detection points is obtained through calculation. coordinates, and store the obtained coordinates in the head of the 3D ground penetrating radar detection results, and then output the SEG-Y format data that meets the accuracy requirements of the 3D ground penetrating radar, so as to realize the 3D ground penetrating radar data between different instruments and different software free conversion.

In the third aspect, Fig. 4 shows a structural block diagram of the data processing device of the three-dimensional ground-penetrating radar provided by the embodiment of the present invention. Referring to Fig. 4, the data processing device of the three-dimensional ground-penetrating radar provided by the present embodiment includes the first An acquisition module 401, a first generation module 402 and an encoding module 403, wherein,

An acquisition module 401, configured to acquire, in real time, a reference position of a preset reference point on the three-dimensional ground-penetrating radar during the process of the three-dimensional ground-penetrating radar detecting a preset area;

The calculation module 402 is configured to obtain the relative position of the detection point relative to the reference point for each detection point of the three-dimensional ground penetrating radar, and calculate the relative position of the detection point according to the relative position and the reference position target location;

The storage module 403 is configured to store the target position and the detection result of detecting the preset area at the target position by the detection point according to a preset format.

The device for processing 3D ground-penetrating radar data provided in this embodiment is applicable to the method for processing data of 3D ground-penetrating radar provided in the above-mentioned embodiments, and will not be repeated here.

An embodiment of the present invention provides a device for processing data of a three-dimensional ground-penetrating radar. The device acquires the reference points set on the three-dimensional ground-penetrating radar in real time during the process of the three-dimensional ground-penetrating radar detecting a preset area. Then, according to the reference position of the reference point and the relative position of each detection point relative to the reference point, the target position of each detection point is calculated. Set the format and store it accordingly. In this device, the position of each detection point is calculated through the reference position and the corresponding relative position, and the target position is the position under the same coordinate, which realizes the unified management of the coordinate positions of each detection point. On the other hand, the target position in each detection point and the corresponding detection results are stored according to the preset format, thus realizing the commonality of files between different instruments and different software.

In the fourth aspect, FIG. 5 is a block diagram showing the structure of the electronic device provided by this embodiment.

Referring to FIG. 5, the electronic device includes: a processor (processor) 501, a memory (memory) 502, a communication interface (Communications Interface) 503 and a bus 504;

in,

The processor 501, the memory 502, and the communication interface 503 complete mutual communication through the bus 504;

The communication interface 503 is used for information transmission between the electronic device and the device for positioning the reference point on the three-dimensional ground penetrating radar;

The processor 501 is used to call the program instructions in the memory 502 to execute the methods provided by the above method embodiments, for example, including: during the process of the three-dimensional ground penetrating radar detecting the preset area, real-time Obtain the reference position of the preset reference point on the three-dimensional ground-penetrating radar; for each detection point of the three-dimensional ground-penetrating radar, obtain the relative position of the detection point relative to the reference point, according to the relative position calculating the target position of the detection point with the reference position; storing the target position and the detection result of the detection point detecting the preset area at the target position according to a preset format.

In the fifth aspect, this embodiment provides a non-transitory computer-readable storage medium, where the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the methods provided in the foregoing method embodiments. The method, for example, includes: during the process of the three-dimensional ground-penetrating radar detecting a preset area, obtaining the reference position of the preset reference point on the three-dimensional ground-penetrating radar in real time; for each of the three-dimensional ground-penetrating radar A detection point, obtaining the relative position of the detection point relative to the reference point, and calculating the target position of the detection point according to the relative position and the reference position; combining the target position and the detection point at the The detection result of detecting the preset area at the target position is stored according to a preset format.

This embodiment discloses a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by the computer, the computer The methods provided by the above method embodiments can be executed, for example, including: during the process of the three-dimensional ground-penetrating radar detecting the preset area, obtaining the reference position of the preset reference point on the three-dimensional ground-penetrating radar in real time ; For each detection point of the three-dimensional ground penetrating radar, obtain the relative position of the detection point relative to the reference point, and calculate the target position of the detection point according to the relative position and the reference position; The detection results of detecting the preset area at the target position and the detection point are stored according to a preset format.

Those of ordinary skill in the art can understand that all or part of the steps for realizing the above-mentioned method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the It includes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

The above-described embodiments such as electronic equipment are only illustrative, and the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, It can be located in one place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative effort.

Through the above description of the implementations, those skilled in the art can clearly understand that each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, not to limit them; although the embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art The skilled person should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the present invention The scope of the technical solutions of each embodiment.

Claims (10)

1. A method for data processing of three-dimensional ground penetrating radar, characterized in that, comprising: During the process of the three-dimensional ground-penetrating radar detecting the preset area, the reference position of the preset reference point on the three-dimensional ground-penetrating radar is obtained in real time; For each detection point of the three-dimensional ground penetrating radar, obtain the relative position of the detection point relative to the reference point, and calculate the target position of the detection point according to the relative position and the reference position; storing the detection result of detecting the preset area at the target position and the detection point according to a preset format; Wherein, during the process of the three-dimensional ground-penetrating radar detecting the preset area, the three-dimensional ground-penetrating radar detects the preset area every time it advances a preset distance; each time the three-dimensional ground-penetrating radar detects , the position used for detection on each channel on the three-dimensional ground penetrating radar is the detection point. 2. The method according to claim 1, characterized in that, in the process of the three-dimensional ground-penetrating radar detecting a preset area, the reference point of the preset reference point on the three-dimensional ground-penetrating radar is obtained in real time location, including: Acquire the latitude and longitude of the reference point in real time during the process of detecting the preset area by the three-dimensional ground penetrating radar; The latitude and longitude are converted into geodetic coordinates, and the position determined according to the geodetic coordinates is used as the reference position. 3. The method of claim 1, wherein, The reference point is set between the two channels of the three-dimensional ground penetrating radar at the central position, and the distance between the reference point and the two channels at the central position is equal. 4. The method according to claim 1, wherein the detection result of detecting the preset area at the target position and the detection point at the target position is stored according to a preset format, include: Taking the target position as the track head corresponding to the detection result of the detection point detecting the preset area at the target position, converting the target position and the corresponding detection result of each track head into SEG-Y Formatted and stored. 5. The method according to claim 1, further comprising: After receiving the instruction to read the detection result of the detection point of the preset track number to detect the preset area, read the target position and the corresponding detection result from the track head of the detection point corresponding to the preset track number . 6. A three-dimensional ground-penetrating radar, characterized in that, comprises a GPS positioning module arranged at a reference point on the three-dimensional ground-penetrating radar; During the process of the three-dimensional ground penetrating radar detecting the preset area, the GPS positioning module acquires the latitude and longitude of the reference point in real time, converts the latitude and longitude into geodetic coordinates, and uses the geodetic coordinates as the reference position ; For each detection point, calculate the target position where the detection point is located according to the relative position of the detection point relative to the reference position; Taking the target position as the track head corresponding to the detection result of the detection point detecting the preset area at the target position, converting the target position and the corresponding detection result of each track head into SEG-Y Formatted and stored. 7. The three-dimensional ground-penetrating radar according to claim 6, further comprising: After receiving the instruction to read the detection result of detecting the preset area by the detection point with the preset track number, output the target position and the corresponding detection result stored in the track head according to the SEG-Y format. 8. A device for data processing of three-dimensional ground penetrating radar, characterized in that, comprising: An acquisition module, configured to acquire a reference position of a preset reference point on the three-dimensional ground-penetrating radar in real time during the process of the three-dimensional ground-penetrating radar detecting a preset area; A calculation module, for each detection point of the three-dimensional ground penetrating radar, to obtain the relative position of the detection point relative to the reference point, and calculate the relative position of the detection point according to the relative position and the reference position target location; A storage module, configured to store the target position and the detection result of the detection point detecting the preset area at the target position according to a preset format. 9. An electronic device, characterized in that it comprises: at least one processor, at least one memory, a communication interface, and a bus; wherein, The processor, the memory, and the communication interface complete mutual communication through the bus; The communication interface is used for information transmission between the electronic device and the device for positioning the reference point on the three-dimensional ground penetrating radar; The memory stores program instructions executable by the processor, and the processor can execute the method according to any one of claims 1 to 5 by invoking the program instructions. 10. A non-transitory computer-readable storage medium, characterized in that, the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the computer according to any one of claims 1 to 5. described method.