Determining the coordinates of objects detected by a 1Tx + 4Rx antenna system using an artificial neural network; free space case

Landmine contamination is a threat to the safety of human life and health and hinders economic activity in vast areas. The problem of humanitarian demining became especially important due to the war waged by the Russian Federation in Ukraine on February 2. According to experts, 300,000 square meters of the territory of Ukraine are currently mined. Cleaning such an area requires tremendous effort. To facilitate the detection and removal of mines, specialized equipment is being created. Partly it was reported at the 8th Mine Action Technology Workshop in Geneva, 2 - 4 November 2021. Several new methods were reported in the [1]. The authors of the international project G5731 [2], implemented within the framework of NATO's "Science for Peace and Security Program", are exploring the possibility of creating a team of robots capable of reliably identifying and locating mines and other explosive devices hidden in the ground [3]. One of the members of the robot team is the Jackal robotic platform [4], equipped with ultra-wideband (UWB) pulse ground penetrating radar (GPR) designed to detect and determine the coordinates of objects located below the soil surface.