Single-frequency ground penetrating radar (GPR) systems are fundamentally constrained by a trade-off between penetration depth and resolution, alongside issues like narrow bandwidth and ringing interference. To break this limitation, we have developed a multi-frequency data fusion technique grounded in convolutional sparse representation (CSR). The proposed methodology involves spatially registering multi-frequency GPR signals and fusing them via a CSR framework, where the convolutional dictionaries are derived from simulated high-definition GPR data. Extensive evaluation using information entropy, average gradient, mutual information, and visual information fidelity demonstrates the superiority of our method over traditional fusion approaches (e.g., weighted average, PCA, 2D wavelets). Tests on simulated and real data confirm that our CSR-based fusion successfully synergizes the deep penetration of low frequencies with the fine resolution of high frequencies, leading to substantial gains in GPR image clarity and interpretability.

The rapid inspection of urban road hazards, such as subsurface voids and pipeline damage, demands high efficiency and precision in detection technology. Conventional Ground Penetrating Radar (GPR) systems often face limitations in urban environments, including slow survey speeds, poor channel scalability, and the trade-off between shallow resolution and deep penetration. The proposed system integrates a dual-band antenna array (200 MHz and 400 MHz) to resolve the classical resolution–penetration trade-off, simultaneously capturing high-resolution shallow data and achieving deep subsurface penetration in a single pass. To overcome the sampling rate bottleneck inherent in low-cost microcontrollers, a custom Time-Division Step Multiplexing (TDSM) protocol extends the equivalent sampling period to 0.38 µs across 24 parallel channels while maintaining a 200 kHz pulse repetition rate—enabling real-time data streaming at vehicle speeds up to 70 km/h with 5 cm trace spacing. This capability directly addresses the critical challenge of traffic disruption on urban arterials caused by conventional slow-speed GPR surveys. Complementing this, a master-slave FPGA-MCU hierarchical architecture provides seamless channel scalability from 24 to 36 channels, adapting to diverse swath width requirements without hardware redesign. Laboratory physics model experiments demonstrate a penetration depth exceeding 3 m after convolutional sparse fusion of the dual-band data, covering the typical burial depth of urban utilities. This study provides a deployable high-resolution underground detection solution for rapid urban infrastructure surveys and emergency disease detection by breaking the traditional constraints of channel number, sampling rate, and detection speed, significantly reducing interference with urban main traffic.