High Resolution Subsurface Imaging of Buried Targets Using Distributed Robotic Sensors

In this paper, a new subsurface imaging technique using distributed sensors is introduced. Instead of monostatic transceivers employed in conventional ground penetrating radars, the proposed technique utilizes bi-static transceivers to sample the reflected signals from the ground at different positions and create a large two-dimensional aperture for high resolution subsurface imaging. The coherent processing of the samples in the proposed imaging method eliminates the need for large antenna arrays for obtaining high lateral resolution images. In addition, it eliminates the need for sampling on a grid which is a time-consuming task in imaging using ground penetration radar. Imaging results show that the method can provide high-resolution images of the buried targets using only samples of the reflected signals on a circle with the center at the transmitter location.