Record of the signal with ice thickness on the ice crossing at the Stony Tunguska river near the village of Vanavara, Evenki District, Krasnoyarsk Territory. Thickness of ice on various recorded portions is from 40 to 70 cm. The best results of the signal processing are when algorithm 1 worked that is optimal for measurement in manual mode. In operation, the algorithm automatically in several places of record gave incorrect results due to the presence of noise in the signal. In these places the boundary of the medium have been exposed in the manual mode. As a result of the small signal processing we obtain a correct record with data on the thickness of the ice at a considerable section of the crossing.


Record of the signal with a thickness of asphalt on the roads of Moscow. During recording the radar signal simultaneously a track was recorded from the regular GPS/GLONASS receiver. Antenna module was placed on the towbar of the car, GPS/GLONASS receiver – on the roof. With the exception of the environment this sensing task totally analogous of the problem of determining the thickness of the ice and provides to display the functionality of combining the radar signal of device and the track on the map. When the signal processing the best results showed algorithm 3  for  transport modes of the device. Places of incorrect working of algorithm was corrected in the manual mode. Some places (stop and start the car, a metal hatch) were labeled.

On the record it clearly shown that when the vehicle is moving each point of radarogram corresponds to the point of the track on the map. When the vehicle is stopped in spite of that the recording has continued to go on we have no the useful signal. This data can be ignored.

A method of positioning using GPS/GLONASS receiver is best used where it is necessary to measure long distances on ice segments, such as winter roads, because positioning accuracy is about 1 point on the 5-10 m. The accuracy of PicoR device data (writes about 30 tracks per second) at a speed of 36 km/h (10 m/s) is approximately 1 track per 30 cm. Ie much more accurately.

The best way of positioning at small-distance segments of ice (eg ice crossing of the river) is to set at a distance at regular intervals any marks (eg paint). And when driving near them on the car at a constant known speed you must press during the recording of the PicoR program “Label” button. On the record in these places vertical red lines with numbering will appear. Thus, the value of ice thickness in the label in the program will correspond to the thickness of the ice near to the marks on the track.