Determining of the Subsurface Object Coordinates Using 1Tx + 4Rx Antenna System at Incomplete Set of Reflections

The impulse GPR with 1 transmitter and 4 receivers (1Tx+4Rx) antenna system is an important part of team of robots responsible for plastic mines detection. It is critical to provide reliability of its work even if only parts of 4 Rx antennas receive reflection from mine. The paper considers the possibility of improving the probability of detecting objects and determining its coordinates using UWB radar with 1Tx+4Rx antenna system in case if only two Rx antennas are able to register reflection from the mine.