Ground Penetrating Radar

419 Pages·2004·20.63 MB·English

by  Daniels, David J.(eds.)

G r o u nd P e n e t r a t i ng
R a d ar - 2 nd E d i t i on
Edited by
D a v id J. D a n i e ls
The Institution of Electrical Engineers
Published by: The Institution of Electrical Engineers, London,
United Kingdom
© 2004: The Institution of Electrical Engineers
This publication is copyright under the Berne Convention and the Universal
Copyright Convention. All rights reserved. Apart from any fair dealing for the
purposes of research or private study, or criticism or review, as permitted under the
Copyright, Designs and Patents Act, 1988, this publication may be reproduced,
stored or transmitted, in any forms or by any means, only with the prior permission
in writing of the publishers, or in the case of reprographic reproduction in
accordance with the terms of licences issued by the Copyright Licensing Agency.
Inquiries concerning reproduction outside those terms should be sent to the
publishers at the undermentioned address:
The Institution of Electrical Engineers,
Michael Faraday House,
Six Hills Way, Stevenage,
Herts., SGl 2AY, United Kingdom
While the authors and the publishers believe that the information and guidance
given in this work are correct, all parties must rely upon their own skill and
judgment when making use of them. Neither the authors nor the publishers assume
any liability to anyone for any loss or damage caused by any error or omission in the
work, whether such error or omission is the result of negligence or any other cause.
Any and all such liability is disclaimed.
The moral right of the authors to be identified as authors of this work have been
asserted by them in accordance with the Copyright, Designs and Patents Act 1988.
The CD in the back of this book includes an Evaluation Version of Mathcad® 11 Single User
Edition, which is reproduced by permission. This software is a fully-functional trial of Mathcad
which will expire 15 days from installation. For technical support, more information about
purchasing Mathcad, or upgrading from previous editions, see http://www.mathcad.com.
Mathcad is a registered trademark of Mathsoft Engineering and Education, Inc.,
http://www.mathsoft.com. Mathsoft Engineering & Education, Inc. owns both the Mathcad
software program and its documentation. Both the program and documentation are
copyrighted with all rights reserved by Mathsoft. No part of the program or its documentation
may be produced, transmitted, transcribed, stored in a retrieval system, or translated into any
language in any form without the written permission of Mathsoft.
British Library Cataloguing in Publication Data
Daniels, David
Ground-penetrating radar. - 2nd ed. - (Radar, sonar, navigations & avionics)
1 .Ground penetrating radar
!.Title !!.Surface penetrating radar
621.3'848
ISBN O 86341 360 9
Typeset in India by Newgen Imaging Systems (P) Ltd., Chennai, India
Printed in the UK by MPG Books Limited, Bodmin, Cornwall
Preface to the second edition
Since the first edition of Surface penetrating radar' was published in 1996 there has
been an enormous increase in research work, in publications, in hardware develop-
ments, in equipment and in radar performance. The term ground penetrating radar
(GPR) has now become the accepted terminology for the science and technology, so
that it was considered more in line with current practice to title the book 'Ground
penetrating radar' even though it is a direct descendant of the first edition of 'Surface
penetrating radar'.
Ground penetrating radar has now reached a level of maturity, but there are still
more performance gains to be made. One aim of this new edition is to provide a
snapshot of the enormous range of applications for GPR. The problem with snapshots
is that they are fleeting and often incomplete. I hope those working in the field that
have not been involved with this edition will understand that it is impossible to be
encyclopaedic and that there should be sufficient references and guides to sources of
information to cover any omissions.
The first edition received a very encouraging response and I am particularly
grateful for the interest of a number of contributors. The late Professor James Wait
very kindly suggested changes to the original material in the early chapters, which
improved the clarity of the presentation. I am also very grateful to Dr S. Evans from
the University of Cambridge and to Dr Yi Huang from the University of Liverpool,
who drew my attention to inconsistencies in the text.
The main aim of the second edition is to incorporate the advances in understanding
and developments in techniques that have taken place since the first edition was
written. The use of radar for the detection of buried objects is growing, and better
understanding of the physics as well as improved technology has much enhanced the
technology. GPR is now an established branch of radar technology. There is, however,
much to be done in terms of improved signal processing and analysis and I hope that
this flavour has permeated the second edition.
The second edition describes the key elements of the subject of surface-penetrating
radar, and in general terms the inter-relationship between those topics in electromag-
netism, soil science, geophysics and signal processing which form a critical part of
the design of a surface-penetrating radar system. The objective in writing this book is
to bring together in one volume all the core information on a technique which spans
a wide range of disciplines. While much of this is available in a range of different
publications, it is dispersed and therefore less accessible by virtue of the disparate
nature of many of the sources.
A further aim of the second edition is to provide an introduction for the newcomer
to the field, as well as a useful source of further reading, information and references
for the current practitioner and to bring the reader more current information.
By necessity, this book provides a snapshot of the field of ground penetrating radar
and it is to be expected that further developments in hardware and signal processing
techniques will incrementally improve the performance and extent of applications. If
this book helps the newcomer to assess the potential of the technique correctly and
apply it effectively, its purpose will be well served.
Several examples may illustrate the reason for the previous comment. A decade or
more ago a suggestion was made that a particular ground-probing radar and its operator
could detect targets the size of golf balls at a depth of 8 m. Clearly the wavelengths
capable of propagating to 8 m would be so much larger than a golf ball sized target that
the radar cross-sectional area of the latter would fade into insignificance, even noise.
The persuasiveness of the claimant and the lack of understanding of basic physics
on the part of the potential users enabled this kind of claim to be seriously proposed.
Unfortunately, such claims are still being made and there are still enough gullible
people who are being dazzled by the prospects. Recently, claims were made in the
US that a ground penetrating radar had been developed 'that can provide three-
dimensional images of objects up to 45.7 m below the surface of land and sea. Such a
device would allow verifiers to identify underground weapons facilities, like those of
concern in Libya, Iraq and North Korea. The underwater detection capability could
also be used to verify treaties dealing with submarines and nuclear weapons positioned
on the seabed'. How well GPR would propagate through sea water is an interesting
question given the known attenuation of sea water at radar frequencies. A careful
analysis of some of the claims about the same radar was published by Tuley (2002).
It is, however, concerning that such claims are still being made when it is clear that
the basic physics has been well understood for decades.
Therefore a secondary objective in preparing this volume has been to provide a
source of information which will allow potential users to assess the merits of claims,
sound or otherwise. GPR is, like all other engineering techniques, firmly based on
physical principles, which must be understood if the technique is to be properly
applied. In reality a metre of wet clay or salt water is still largely opaque, even to
the latest radar hardware, however well provisioned with arrays of microprocessors,
artificial intelligence and neural networks.
It is hoped that the second edition may provide useful material for the expert or
advanced practitioner in the discipline as many of the new contributions are by leaders
in the field. The treatment of the subject is generally at that of first year undergraduate
level, although some chapters may require a deeper knowledge of antenna and EM
wave theory. The aim has been to provide a treatment which is readily accessible,
Because colour is expensive to produce, the second edition has line draw-
ings and greyscale illustrations and is a hardback edition. However, additional
material and colour images as well as audio visual (AV) files are contained on the
accompanying CD. The following software is needed to access the CD: Microsoft™
Word 2000, Microsoft™ Powerpoint 2000 and Media Player™ for the MPEG and
video clips and Paint Shop Pro™. There is also an evaluation copy of MathCad™
to run the MathCad simulations, although both the signal and image processing
toolboxes are needed for some worksheets.
After an introduction in Chapter 1 to set the scene, the general system considera-
tions are discussed in Chapter 2. Chapter 3 considers some aspects of modelling,
which is now a key means of evaluating both capability and data. Chapter 4 provides
an introduction to the dielectric properties of earth materials and includes a consider-
ation of the suitability of soils. The characteristics of antennas suitable for use in SPR
systems are described in Chapter 5, and this is followed in Chapter 6 by a description
of the various modulation techniques. Chapter 7 reviews the variety of signal process-
ing options currently available. Indications are given of the range of options available
and descriptions of how various workers have approached their design and imple-
mentation for a given application. The applications of the technology are reviewed
in Chapter 8 (Archaeology), Chapter 9 (Civil engineering), Chapter 10 (Forensic
applications), Chapter 11 (Geophysical applications), Chapter 12 (Mine detection),
Chapter 13 (Utilities) and Chapter 14 (Remote sensing). Chapter 15 briefly considers
the selection of equipment but, unlike the first edition, directs the reader to the web-
sites of the companies concerned. Chapter 16 considers the licensing, radiological
and EMC aspects of GPR and Chapter 17 details additional bibliographic material.
Reference
TULEY, M. T., RALSTON, J. M., ROTONDO, F. S., ANDREWS, A. M., and
ROSEN, E. M.: 'Evaluation of EarthRadar unexploded ordnance testing at Fort
A. P. Hill, Virginia', IEEEAerosp. Electron. Syst. Mag., 2002,17, (5), pp. 10-12
Acknowledgments
I am extremely grateful for the help that I received from many fellow workers in
the field of ground penetrating radar. In particular, I would like to thank those who
provided individual contributions to both the first and second editions.
I would also like to express my thanks and appreciation to the Directors of ERA
Technology Ltd, UK, both for their support of research and development of the
technology and for their assistance with the preparation of the first and second editions.
I would like to thank my colleagues at ERA Technology, whose work on various
programmes at various times provided the wherewithal to develop GPR techniques.
In particular, I would like to thank Dr Jon Dittmer, Nigel Hunt, Paul Curtis, Dr Raj an
Amin, Dr Duncan Brooks, Vince Brooker, Kevin Targett, Stefan Jennings, Giles
Capps, Brian Kay, Oscar Mitchell, Ken Mann and Nick Frost and Dr Neil Williams,
whose support for the technology has been invaluable. I am grateful to Pam Wheeler,
who enthusiastically and patiently typed the manuscript, and to Shirley Vousden, who
prepared all of the figures for the first edition.
When the first edition was published, I received many favourable comments
on the concept. However, various errors somehow crept through the reviewing and
proofreading process, and for these I must apologise. I believe that the second edi-
tion has removed these. I am particularly grateful to the late Professor James Wait
of the University of Arizona, whose review and correspondence I really appreciated.
I would also like to thank Dr Stan Evans of the University Engineering Depart-
ment, Cambridge, and DrYi Huang of the University of Liverpool for their help and
comments on the first edition which greatly enhanced the second edition.
Contributors
First edition
Dr S. Abrahamson
M. Bartha
H. F. Scott
Prof. J. Bungey
Dr R. de Vekey
Dr P. Hanninen
Dr R. A. van Overmeeren
Dr J. K. van Deen
Dr S. Tillard
Dr J. Fidler
Mr D. L. Wilkinson
Dr J. Cariou
Dr G. Schaber
Prof. T. Haglars
Ms F. Nicollin
The following companies and people provided information on equipment for the first
edition: Greg Mills of GSSI (US), Sensors and Software (Canada), Redifon (UK),
ERA Technology (UK), NTT (Japan) and MALA (Sweden).
Second edition
I am extremely grateful for the contributions to the second edition. Given the growth
of GPR research, it is no longer possible for any individual to cover the complete field
of GPR, and the input of the various contributors to the second edition provides some
coverage of the extent of the growth of the subject. Contact details for the contributors
to the second edition are included below.
Dr Steven A. Arcone David J. Daniels
ERDC/US A CRREL Chief Consultant, Sensors, Electronic
72 Lyme Road Hanover, NH 03755, Systems
United States of America ERA Technology Limited
T ++1 603 646 4368 Cleeve Road, Leatherhead, Surrey,
F ++1 603 646 4644 KT22 7SA, United Kingdom
[email protected] T [phone]
F [phone]
[email protected]
Dr Nigel J. Cassidy
Les Davis
Principal Research Fellow
President, Terad Ltd
Department of Applied and
3509 Mississauga Road, Mississauga,
Environmental Geophysics Group
Ontario, LSL 2R9, Canada
School of Earth Sciences and
T ++905 820 7643
Geography
F ++905 820 7643
Keele University, Keele, Staffordshire,
terad@symatico. ca
ST5 5BG, United Kingdom
T ++1782 583180
Dr Xavier Derobert
F ++1 782 583737
Researcher, Division for Soil Mechanics
[email protected]
and Site Surveying
Laboratoire Central des Ponts et
Chaussees, BP 4129-44341 Bouguenais,
Dr Chi-Chih Chen
France
Research Scientist
T 00+33+2 40 84 59 11
ElectroScience Laboratory, Ohio State
F 00 +33 [phone]
University Electrical Engineering
[email protected]
Department
1320 Kinnear Road, Columbus, Ohio,
Dr Jon K. Dittmer
43212, United States of America
Principal Engineer, Electronic Systems
T ++1 [phone]
ERA Technology Limited
F ++1 [phone]
Cleeve Road, Leatherhead, Surrey,
Chen. [email protected]
KT22 7SA, United Kingdom
T [phone]
F [phone]
Dr Richard J. Chignell [email protected]
Technical Director, PipeHawk pic
Systems House, Mill Lane, Alton, Dr James A. Doolittle
Hampshire, GU34 2QG, Research Soil Scientist, United States
United Kingdom Department of Agriculture-Natural
T ++44 1420 590990 Resources Conservation Service
F ++44 1420 590920 (USDA-NRCS)
richard. chignell@pipehawk. com 11 Campus Boulevard Suite 200,
Newtown Square, PA 19073, Dr Christiane Maierhofer
United States of America Head of Group, BAM Bundesanstalt fiir
T ++1 610-557-4233 Materialforschung und - priifung
F ++1 610-557-4136 Federal Institute for Materials Research
[email protected] and Testing Fachgruppe IV.4 -
Zerstorungsfreie Schadensdiagnose und
Dr Martin W. Fritzsche Umweltmessverfahren Division IV.4 -
Research Scientist, Machine Non-Destructive Damage Assessment
Perception Lab and Environmental Measurement
DaimlerChrysler Research & Methods Unter den Eichen, 87 D-12205
Technology, PO Box 2360, Berlin
D-89013 UIm, Germany T ++49+(0)30-8104 1441
T ++49-(0)731-505-2114 F ++49+(0)30-8104 1447
F ++49-(0)731-505-4105 [email protected]
[email protected]
Dr Cedric Martel
Prof. Svein-Erik Hamran
Senior Engineer, Electronic Systems
Professor, Department of Geoscience
ERA Technology Limited, Cleeve Road,
University of Oslo Postboks 1047
Leatherhead, Surrey, KT22 7SA,
Blindern, N-0316 Oslo, Norway
United Kingdom
T ++47 99 02 79 43
T [phone]
F ++47 22 85 42 15
F [phone]
[email protected]
[email protected]
Dr Yi Huang
Associate Professor, Department of
Dr Vega Perez Gracia
Electrical Eng & Electronics
Associate Professor
University of Liverpool, Liverpool
Departamento de Resistencia de
L69 3GJ, United Kingdom
Materiales y Estructuras en Ia Ingenieria
T [phone]
Universidad Politecnica de Cataluiia
F [phone]
Mecanica aplicada. EUETIB.
[email protected]
Universidad Politecnica de Cataluiia,
C/Urgell 187, 08036 Barcelona, Spain
Dr Henrique Lorenzo T ++34 93 413 73 33
Associate Professor, Department of F ++34 94 413 14 21
Natural Resources & Environmental [email protected]
Engineering
University of Vigo, EUET Forestal.
Campus A Xunqueira s/n. 36005 - Prof. Giovanni Picardi
Pontevedra, Spain Professor, Information and
T [phone] Communication Department -
F [phone] INFOCOM Dpt
[email protected] University of Rome 4La Sapienza'
via Eudossiana 18-00184 Roma, Italy Vrije Universiteit Brussel, VUB-ETRO,
T +39.06.44585455 Pleinlaan, 2-B-1050 Brussels, Belgium
F +39.06.4873300 T ++32 2 629 29 16
[email protected] .it F ++32 2 629 28 83
[email protected]
Prof. Rocco Pierri
Professor, Department of Information Prof. Motoyuki Sato
Engineering Professor, Center for Northeast Asian
Seconda Universita' di Napoli Studies
Via Roma 29 181031, Aversa Italy Tohoku University, Kawauchi,
T +39+0815010242 Sendai 980-8576 Japan
F +39+0815037370 T +81+22 217 6075
[email protected] F +81+22 217 6075
[email protected]
Prof. Michele Pipan
Associate Professor, Department of
Dr Timofei Savelyev
Geological, Environmental and Marine
Department of Electronics and
Sciences, University of Trieste
Information Processing
via Weiss, 1-34127 , Trieste, Italy
Vrije Universiteit, Brussel VUB-ETRO,
T [phone]
Pleinlaan, 2-B-1050 Brussels, Belgium
F [phone]
T ++32 2 629 29 16
[email protected]
F ++32 2 629 28 83
[email protected]
Prof. Carey Rappaport
Professor, Electrical and Computer
Dr Bart Scheers
Engineering
Lecturer, Department of
Northeastern University, Boston, MA,
Telecommunication
United States of America
Royal Military Academy,
T ++1(617) 373-2043 (v)
Renaissancelaan 30, B-1000 Brussels,
F ++l(617)373-8627(f)
Belgium
[email protected]
T ++32-2-7376626
F ++32-2-7376622
Dr Juergen Sachs
[email protected]
Associate Professor, Faculty of
Electrical Engineering and Information
Technology Luc Van Kempen
Technical University of Ilmenau, POB Department of Electronics and
100565, D-98684 Ilmenau, Germany Information Processing
T [phone] Vrije Universiteit, Faculty of Applied
F [phone] Sciences, ETRO Department, IRIS
juergen. sachs@tu-ilmenau. de Research Group, Pleinlaan, 2-B-1050
Brussels, Belgium
Prof. Hichem Sahli T ++32 2 629 29 16
Associate Professor, Department of F ++32 2 629 28 83
Electronics and Information Processing [email protected]