Target detection method for ground-penetrating radar and associated radar
A method for detecting at least one target buried in an area of the ground, using a ground-penetrating radar, the method includes the steps of: acquiring a measurement of a signal transmitted by each transmitting antenna and reflected in the area of the ground, converting an estimate, into the frequency domain, of the propagation channel for each pair consisting of a transmitting antenna and of a receiving antenna, defining a first hypothesis H0 corresponding to an absence of target in the area of the ground, defining a second hypothesis H1 corresponding to the presence of at least one target in the area of the ground, performing a test of the likelihood ratio between the likelihood of the channel matrix under the second hypothesis H1 and the likelihood of the channel matrix under the first hypothesis H0, in order to conclude whether a target is present at a given position in the area of the ground.
1. A method for detecting at least one target buried in an area of the ground, using a ground-penetrating radar, the radar comprising at least one transmitting antenna and at least one receiving antenna, the method comprising the steps of:
acquiring, on each receiving antenna, a measurement of a signal transmitted by each transmitting antenna and reflected in the area of the ground,
determining, on the basis of said measurements, an estimate, in the frequency domain, of the propagation channel for each pair consisting of a transmitting antenna and of a receiving antenna, said estimates being grouped together in a channel matrix having a first dimension which is equal to the number of receiving antennas, a second dimension which is equal to the number of transmitting antennas and a third dimension which is equal to the number of frequencies,
defining a first hypothesis H0 corresponding to an absence of target in the area of the ground, the channel matrix under this first hypothesis being modeled by noise,
defining a second hypothesis H1 corresponding to the presence of at least one target in the area of the ground, the channel matrix under this second hypothesis being modeled by a propagation channel model depending at least on the characteristics of the transmitting antennas and of the receiving antennas and on the signal propagation losses in the ground,
performing a test of the likelihood ratio between the likelihood of the channel matrix under the second hypothesis H1 and the likelihood of the channel matrix under the first hypothesis H0, in order to conclude whether a target is present at a given position in the area of the ground.
2. The detection method as claimed in claim 1 , wherein the step of performing a test of the likelihood ratio between the first hypothesis H0 and the second hypothesis H1 comprises the sub-steps of:
determining at least one estimator of the maximum likelihood of the position and of the radar cross section of a target, under the second hypothesis H1,
determining the likelihood of the channel matrix under the second hypothesis H1 for each estimator,
determining the likelihood of the channel matrix under the first hypothesis H0,
comparing the ratio between the two likelihoods with a predetermined detection threshold in order to deduce therefrom the presence or the absence of a target for each estimated position.
3. The detection method as claimed in claim 2 , wherein the step of determining at least one estimator of the maximum likelihood of the position and of the radar cross section of a target, under the second hypothesis H1, is performed by searching for at least one extremum of a function of three variables depending on the position of a target in the area of the ground, on the radar cross section of a target and on a coefficient of signal transmission losses in the area of the ground.
4. The detection method as claimed in claim 3 , wherein the search for at least one extremum of said function of three variables is performed by:
determining an estimator of the maximum likelihood of the radar cross section by calculating a normalized correlation between the channel matrix and a loss matrix including the transfer functions of the transmitting and receiving antennas, the signal propagation losses in free space and in the area of the ground,
searching for at least one extremum according to the position and the loss coefficient of said function evaluated for the estimated radar cross section.
5. The detection method as claimed in claim 4 , wherein the likelihood of the channel matrix under the second hypothesis H1 is determined by an extremum of said function.
6. The detection method as claimed in claim 2 , wherein the likelihood of the channel matrix under the first hypothesis H0 is determined at least by calculating the energy of the channel matrix.
7. The detection method as claimed in claim 1 , wherein a target position is searched for in a two- or three-dimensional grid (G1, G2) having a defined initial pitch, the method being iterated over several iterations, reducing the area and the initial pitch in each iteration.
8. The detection method as claimed in claim 1 , comprising the steps of:
converting the propagation channel estimates for each pair consisting of a transmitting antenna and of a receiving antenna, into the time domain,
applying a filter to the estimates in the form of time windowing,
converting the filtered estimates into the frequency domain,
grouping together the filtered estimates in a channel matrix.
9. The detection method as claimed in claim 8 , wherein the time windowing is defined so as to filter the contributions of the signals corresponding to a distance interval between the radar and the area of the ground.
10. The detection method as claimed in claim 9 , the method being repeated for several different filters so as to cover the entire area of the ground.
11. The detection method as claimed in claim 1 , further comprising a step of canceling the contribution of a target detected in the measurements of acquired signals, for example by means of an echo cancellation algorithm, the method being iterated over several successive iterations, canceling in each new iteration the echo of the target detected in the previous iteration.
12. A ground-penetrating radar comprising at least one transmitting antenna and at least one receiving antenna and a device for detecting at least one target buried in an area of the ground configured to execute the steps of the detection method as claimed in claim 1 .
13. A non-transitory tangible computer-accessible storage medium having stored thereon a computer program for executing the method as claimed in claim 1 , when the computer program is executed by a computer.
14. A non-transitory processor-readable storage medium, on which is stored instructions for executing the method as claimed in claim 1 , when the instructions are executed by a processor.