Method for ground penetrating radar detections and apparatus thereof

A system for detecting positions of objects under a surface with respect to a reference Cartesian system S(x, y) having origin O(xo, yo) and axes x and y, said system comprising:

• a GPR apparatus comprising:
• a GPR sensor;
• a control unit;
• and
• a center of reference C(xc, yc) having coordinates xc and yc on said reference Cartesian system S(x, y);
• a first linear wall, said first wall having direction parallel to said axis x of said reference Cartesian system S(x, y);
• a second linear wall, said second wall having direction parallel to said axis y of said reference Cartesian system S(x, y);
• and
• a distance detecting unit arranged for:
• detecting a first measurement of distance between said distance detecting unit and said first linear wall;
• and
• detecting a second measurement of distance between said distance detecting unit and said second linear wall;
• and
• said control unit arranged to carry out:
• a processing of said first and second measurement of distance in order to calculate said coordinates xc and yc of said center of reference C(xc, yc);
• an association of coordinates xi=xci and yi=yci to an i-th object detected, where xci and yci are the values of said coordinates xc and yc at the detection by means of said GPR sensor of said i-th object;
• verifying, on the basis of said change said coordinate yc, that said trajectory γ coincides with a predetermined trajectory γ′;
• and
• in case that said step of verifying is negative, correcting said trajectory γ along which is carried out said step of handling.

A system for detecting positions of objects under a surface with respect to a reference Cartesian system S(x, y) having origin O(xo, yo) and axes x and y using a GPR apparatus, said GPR apparatus comprising:

• a GPR sensor;
• a control unit;
• and
• a center of reference C(xc, yc) having coordinates xc and yc on said reference Cartesian system S(x, y);
• said system comprising:
• a first linear wall, said first wall having direction parallel to said axis x of said reference Cartesian system S(x, y);
• a second linear wall, said second wall having direction parallel to said axis y of said reference Cartesian system S(x, y);
• and
• a distance detecting unit comprising at least one laser sensor and located on board of said GPR apparatus, wherein:
• said distance detecting unit is arranged for:
• detecting a first measurement of distance between said distance detecting unit and said first linear wall, by a difference between the transmission time and the receiving time of a laser pulse;
• and
• detecting a second measurement of distance between said distance detecting unit and said second linear wall, by a difference between the transmission time and the receiving time of a second laser pulse;
• and
• said control unit is adapted to carry out:
• a processing of said first and second measurement of distance in order to calculate said coordinates xc and yc of said center of reference C(xc, yc);
• an association of coordinates xi=xci and yi=yci to an i-th object detected, where xci and yci are the values of said coordinates xc and yc at the detection by said GPR sensor of said i-th object;
• verifying, on the basis of said change said coordinate yc, that said trajectory γ coincides with a predetermined trajectory γ′;
• and
• in case that said step of verifying is negative, correcting said trajectory γ along which is carried out said step of handling.