This paper describes in detail the applicability of the developed ground-penetrating radar (GPR) model with a kinematic GPR and self-tracking (robotic) terrestrial positioning system (TPS) surveying setup (GPR-TPS model) for the acquisition, processing and visualisation of underground utility infrastructure (UUI) in a real urban environment. The integration of GPR with TPS can significantly improve the accuracy of UUI positioning in a real urban environment by means of efficient control of GPR trajectories. Two areas in the urban part of Celje in Slovenia were chosen. The accuracy of the kinematic GPR-TPS model was analysed by comparing the three-dimensional (3D) position of UUI given as reference values (true 3D position) from the officially consolidated cadastre of utility infrastructure in the Republic of Slovenia and those obtained by the GPR-TPS method. To determine the reference 3D position of the GPR antenna and UUI, the same positional and height geodetic network was used. Small unmanned aerial vehicles (UAV) were used for recording to provide a better spatial display of the results of UUI obtained with the GPR-TPS method. As demonstrated by the results, the kinematic GPR-TPS model for data acquisition can achieve an accuracy of fewer than 15 centimetres in a real urban environment.

This paper describes in detail the development of a ground-penetrating radar (GPR) model for the acquisition, processing and visualisation of underground utility infrastructure (UUI) in a controlled environment. The initiative was to simulate a subsurface urban environment through the construction of regional road, local road and pedestrian pavement in real urban field/testing pools (RUTPs). The RUTPs represented a controlled environment in which the most commonly used utilities were installed. The accuracy of the proposed kinematic GPR-TPS (terrestrial positioning system) model was analysed using all the available data about the materials, whilst taking into account the thickness of the pavement as well as the materials, dimensions and 3D position of the UUI as given reference values. To determine the reference 3D position of the UUI, a terrestrial geodetic surveying method based on the established positional and height geodetic network was used. In the first phase of the model, the geodetic network was used as a starting point for determining the 3D position of the GPR antenna with the efficient kinematic GPR surveying setup using a GPR and self-tracking (robotic) TPS. In the second phase, GPR-TPS system latency was quantified by matching radargram pairs with a set of fidelity measures based on a correlation coefficient and mean squared error. This was followed by the most important phase, where, by combining sets of “standard” processing routines of GPR signals with the support of advanced algorithms for signal processing, UUI were interpreted and visualised semi-automatically. As demonstrated by the results, the proposed GPR model with a kinematic GPR-TPS surveying setup for data acquisition is capable of achieving an accuracy of less than ten centimetres.

We applied an interdisciplinary approach to analyze the late Quaternary activity of the Sava Fault in the Slovenian Southern Alps. The Sava Fault is an active strike-slip fault, and part of the Periadriatic Fault System that accommodated the convergence of Adria and Europe. It is one of the longest faults in the Southern Alps. Using high-resolution digital elevation models from lidar and photogrammetric surveys, we were able to overcome the challenges of assessing fault activity in a region with intense surface processes, dense vegetation, and relatively low fault slip rates. By integrating remote sensing analysis, geomorphological mapping, structural geological investigations, and near-surface geophysics (electrical resistivity tomography and ground penetrating radar), we were able to find subtle geomorphological indicators, detect near-surface deformation, and show distributed surface deformation and a complex fault pattern. Using optically stimulated luminescence dating, we tentatively estimated a slip rate of 1.8 ± 0.4 mm/a for the last 27 ka, which exceeds previous estimates and suggests temporal variability in fault behavior. Our study highlights the importance of modern high-resolution remote sensing techniques and interdisciplinary approaches in detecting tectonic deformation in relatively low-strain rate environments with intense surface processes. We show that slip rates can vary significantly depending on the studied time window. This is a critical piece of information since slip rates are a key input parameter for seismic hazard studies.