| CPC G01S 13/885 (2013.01) [G01S 13/87 (2013.01)] | 11 Claims |
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1. A method of generating a subterranean map with a ground penetrating radar system, the ground penetrating radar system comprising:
a plurality of ground penetrating radar vehicles, each ground penetrating radar vehicle comprising:
a ground penetrating radar transmitter comprising a transmitting antenna; and
a ground penetrating radar receiver; and
a controller configured to operate the plurality of ground penetrating radar vehicles, the method comprising:
determining a minimum distance between each of the ground penetrating radar vehicles of the plurality of ground penetrating radar vehicles based on an objective for a ground penetrating radar survey performed to generate the subterranean map;
determining a minimum distance between two or more ground penetrating radar vehicles operating at the same frequency, wherein the minimum distance between two or more ground penetrating radar vehicles operating at the same frequency is greater than the minimum distance from the other ground penetrating radar vehicles operating at different frequencies;
placing each of the ground penetrating radar vehicles of the plurality of ground penetrating radar vehicles at the minimum distance from the other ground penetrating radar vehicles and further placing each of the ground penetrating radar vehicles of the plurality of ground penetrating radar vehicles at the minimum distance from the other ground penetrating radar vehicles operating at the same frequency;
simultaneously emitting a first ground penetrating radar signal from a first transmitting antenna at a first frequency bandwidth, a second ground penetrating radar signal from a second transmitting antenna at a second frequency bandwidth different than the first frequency bandwidth, and a third ground penetrating radar signal from a third transmitting antenna at a third frequency bandwidth different than the first frequency bandwidth and the second frequency bandwidth;
receiving a first ground penetrating radar return signal produced in response to the first ground penetrating radar signal interacting with a subsurface feature at a first ground penetrating radar receiver, a second ground penetrating radar return signal produced in response to the second ground penetrating radar signal interacting with the subsurface feature, and a third ground penetrating radar return signal produced in response to the third ground penetrating radar signal interacting with the subsurface feature at each of the first ground penetrating radar receiver, the second ground penetrating radar receiver, and the third ground penetrating radar receiver;
separating, by the controller, the first ground penetrating radar return signal, the second ground penetrating radar return signal, and the third ground penetrating return signal; and
generating, by the controller, the subterranean map from the first ground penetrating radar return signal, the second ground penetrating radar return signal, and the third ground penetrating radar return signal.
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