4th Joint International Symposium on Deformation Monitoring (JISDM), 15-17 May 2019, Athens, Greece

Introduction to IBIS-ArcSAR: a circular scanning GB-SAR system for

deformation monitoring
Alberto Michelini1, Federico Viviani1, Lorenzo Mayer1
1
IDS GeoRadar, Via Augusto Righi 1-2, 56121, Pisa, Italy (alberto.michelini@idsgeoradar.com)

Key words: GB-SAR; Interferometry; Radar Imaging; Geohazard monitoring; Open pit mine monitoring

ABSTRACT
In the last decade, Ground-Based Synthetic Aperture Radar (GB-SAR) Interferometry has become a well-
established technique for deformation monitoring of several scenarios, including landslides, glaciers, dams and
open pit mines. This goal has been achieved thanks to the GB-SAR specific advantages, such as remote sensing,
high sensitivity to small deformations, long range of measurements, imaging capability and fast scan time.
The GB-SAR systems synthesize an aperture along azimuth direction by moving the radar head on a linear rail
while transmitting a Frequency Modulated Continuous Wave (FMCW) signal. A 2D range-azimuth image can be
produced through proper signal processing, and repeated acquisitions in time of the same scenario can be
processed through differential interferometry techniques, obtaining 2D range-azimuth displacements maps.
However, especially in open pit mine geometries, the 80° azimuth field of view of a typical GB-SAR system can
be a limiting factor in comparison to other monitoring technologies (e.g. Real Aperture Radar). Recently, to
overcome this limit, IDS GeoRadar developed IBIS-ArcSAR: an innovative circular scanning GB-SAR system with
360° horizontal coverage capability, with constant angular resolution.
In this paper the differences between the standard linear scan and the new circular scan applied to GB-SAR
systems are reviewed; in particular differences in focusing techniques, antenna pattern role and the focused 2D
image properties, are analyzed. Then the IBIS-ArcSAR system is presented, describing the hardware setup and
the technological solutions implemented to improve GB-SAR systems’ performances. Finally, various real dataset
results, acquired during the last year, are reported and analyzed.

I. INTRODUCTION One of the main limitations of common GB-SAR with

respect to other technologies, as for example Real
Aperture Radar (RAR) (Pieraccini 2013), is the limited
Interferometric Ground-Based Synthetic Aperture
horizontal Field of View (FoV), which is bounded by the
Radar (GB-SAR) is a class of remote sensing systems
antennas horizontal beamwidth to about 80°. Such
able to provide 2D images and to estimate small
horizontal FoV is usually not a problem for remote
displacements, exploiting differential interferometry
monitoring of landslides and glaciers, but it may
techniques (Monserrat et al. 2014), (Caduff et al. 2015).
become a relevant limitation in open cast mining
These systems have been widely used in many
environment, where a reduced horizontal coverage
deformation monitoring environments, such as
turns out in a smaller covered area, because of the pit
landslides (Herrera et al. 2009), (Mazzanti et al. 2015),
circular geometry.
glaciers (Noferini et al. 2009), (Dematteis et al. 2017),
urban sites (Pipia et al. 2007), (Crosetto et al. 2014),
open pit mines (Atzeni et al. 2015), (Ramsden et al.
2015), bridges (Gentile et al. 2008), (Kuras et al. 2012)
and dams (Alba et al. 2008), (Di Pasquale et al. 2018).
Common GB-SAR systems realize a synthetic aperture
by moving a radar sensor on a rail while transmitting a
Frequency Modulated Continuous Wave (FMCW)
signal. Starting from the raw data acquired, a 2D range-
azimuth complex-valued image is obtained through a
proper focusing; repeating the SAR acquisition at
various times and applying differential interferometry
techniques, a 2D Line of Sight (LoS) displacement map
can be computed (Rödelsperger 2011). Then, knowing
the radar position, it is possible to back-project the 2D
radar images onto a Digital Terrain Model (DTM)
obtaining a valuable 3D representation of the
deformation scenario (Figure 1). Figure 1. Typical GB-SAR Geocoded displacement map
 4th Joint International Symposium on Deformation Monitoring (JISDM), 15-17 May 2019, Athens, Greece

To increase the GB-SAR FoV, in the past various

circular scanning prototypes have been proposed and
tested (Lee et al. 2014), (Luo et al. 2014), (Pieraccini et
al. 2017) and (de Macedo et al. 2017) but none of them
has been subsequently developed to become a fully
engineered system. Recently IDS GeoRadar has
developed IBIS-ArcSAR: an innovative circular scanning
GB-SAR system with the capability to synthesize images
at 360° with constant angular resolution and with an
improved level of engineering compared to the other
GB-SAR systems on the market (Viviani et al. 2017).
In this paper the differences between the standard
linear scan and the new circular scan applied to GB-SAR
systems are presented. In particular in section II some
SAR imaging concept are reviewed and applied, first to Figure 2. SAR acquisition model
the linear case (II.A), then to the circular case (II.B). In
section III the IBIS-ArcSAR system is presented, first The scenario measured by a SAR system is usually
describing the hardware setup and some of the described by a microwave backscattering coefficient
technological solutions implemented (III.A), then in that can be represented by a complex function 𝜎(𝒒)
section III.B two real dataset results, acquired during defined on an ambient space 𝑄 as for example the
the last year, are reported and discussed, with common three-dimensional Euclidean space. Given a
particular focus on the new wide coverage introduced target located in the position 𝒒′ ∈ 𝑄, SAR raw data are
by the circular scanning. connected to the target reflectivity through a kernel
𝐾(𝒑; 𝒒′ ) that keeps in account of the various Radar
II. SAR IMAGING propagation factors (Bamler et al. 1998), (Dickey et al.
2001):
Unlike the optical or the RAR imagery, SAR data have
𝑑(𝒑) = ∫ 𝐾(𝒑; 𝒒′ )𝜎(𝒒′ )𝑑𝒒′ (1)
to be pre-processed in order to obtain an exploitable
image; this procedure is commonly called image
Therefore, in the SAR raw data, the signal energy
focusing. SAR focusing is usually a 2D problem, in which
from a point target is distributed across all the SAR
the effects of frequency modulation and those of
acquisition, and the purpose of image focusing is to
system motion are processed simultaneously. Since this
collect this scattered energy into a single pixel in the
paper analyzes the differences between linear and
output image.
circular scanning, only the system motion effects will be
Starting from (1) it is possible to compute a SAR
considered in the following, in this way the focusing will
focused image 𝑠(𝒒) evaluated in the position 𝒒 ∈ 𝑄,
be reduced to a 1D problem.
multiplying the SAR raw data by a complex steering
Generally speaking, a SAR acquisition can be labelled
vector 𝐻(𝒒; 𝒑) and then integrating along SAR
by a set of parameters 𝒑 as for examples the acquisition
acquisition parameters (2).
time, the position along a rail or the position on a
curvilinear orbit. The generation of any SAR image
𝑠(𝒒) = ∫ 𝐻(𝒒; 𝒑)𝑑(𝒑)𝑑𝒑 (2)
starts with a raw data 𝑑, that is essentially what the
sensor acquires during the acquisition, and that can be
Thanks to linearity of (1) and (2), the resulting focused
represented by a complex valued function 𝑑(𝒑) of the
image can be expressed as a convolution between the
SAR acquisition parameters (Figure 2).
target reflectivity and the system Point Spread Function
(PSF) 𝜒(𝒒; 𝒒′ ) (3) that describes, as a function of 𝒒, the
SAR imaging system response to a point source located
in 𝒒′ .

𝑠(𝒒) = ∫ 𝜒(𝒒; 𝒒′ )𝜎(𝒒′ )𝑑𝒒′ (3)

The analysis of the PSF of an imaging system allows

the determination of various parameters, in particular
in Radar imaging are considered, among others, the
Peak Side Lobe Ratio (PSLR) and the spatial resolution
The PSLR is defined by the ratio between the
strongest level of PSF sidelobes to the PSF main lobe
peak level. It represents the ability of the imaging
system to identify a weak target from a nearby strong
 4th Joint International Symposium on Deformation Monitoring (JISDM), 15-17 May 2019, Athens, Greece

one. In fact, sidelobes from large targets can obscure

signals coming from nearby smaller targets.
The spatial resolution instead represents the ability of
the imaging system to distinguish two close similar
targets; in Radar imaging, it is usually measured by the
distance between the points with intensities 3 dB below
the PSF main lobe peak level.
In the SAR focused image, combining (1) and (2) it is
possible to express the PSF as a convolution between
the system kernel 𝐾 and the focusing steering vector
𝐻:

𝜒(𝒒; 𝒒′ ) = ∫ 𝐻(𝒒; 𝒑)𝐾(𝒑; 𝒒′ )𝑑𝒑 (4)

It is well known (Chan et al. 2008) that matched

steering vector 𝐻(𝒒; 𝒑) = 𝐾 ∗ (𝒑; 𝒒) maximize the
target Signal to Noise Ratio (SNR) or equivalently it
maximizes the PSF main lobe peak respect to the noise Figure 3. Linear GB-SAR geometry
level; in physical systems, however, the aperture
finiteness inevitably causes undesirable sidelobes in the With this convention, given a SAR position labelled
PSF. SAR sidelobes, may be reduced by exploiting by 𝑝 it is possible to express the distance 𝑟(𝑝) between
window taper functions 𝑊(𝒑) across the finite the SAR position and a point with spherical coordinates
aperture, albeit at the expense of other parameters (𝑟, 𝜃𝑙 , 𝜙𝑙 ) as:
degradations such as the spatial resolution (Doerry 𝑟(𝑝) = √(𝐿 ⋅ 𝑝 − 𝑟 sin 𝜙𝑙 )2 + 𝑟 2 cos 2 𝜙𝑙 (5)
2017).
In the next two sections, these general concepts will Consider now a linear GB-SAR system with a central
be applied to the specific cases of linear and circular GB- wavelength 𝜆 and an antenna pattern 𝐺(𝜃𝑙 , 𝜙𝑙 ), that
SAR aims an acquisition scenario described by a
backscattering coefficient 𝜎(𝜃𝑙 , 𝜙𝑙 ). After range
A. Linear GB-SAR focusing, the raw data 𝑑 received at the SAR position 𝑝
Currently, the most common GB-SAR configuration can be expressed as
exploited for deformation monitoring is the linear one. 𝑑(𝑝) =
4𝜋
−𝑖 𝑟(𝑝)
A generic linear GB-SAR system is composed by a ∬𝑒 𝐺 2 (𝜃𝑙′ , 𝜙𝑙′ )𝜎(𝜃𝑙′ , 𝜙𝑙′ )𝑑𝜃𝑙′ 𝑑𝜙𝑙′ =
𝜆

Radar sensor that moves along a linear rail of length 𝐿 ∬ 𝐾𝑙 (𝑝; 𝜃𝑙 , 𝜙𝑙′ )𝜎(𝜃𝑙′ , 𝜙𝑙′ )𝑑𝜃𝑙′ 𝑑𝜙𝑙′
′
(6)
(Monserrat et al. 2014), (Farina et al. 2011). Consider a
Cartesian coordinate system (𝑥, 𝑦, 𝑧) with the origin Where it has been introduced the linear GB-SAR
placed at the center of the rail and oriented in order to kernel 𝐾𝑙 (𝑝; 𝜃𝑙 , 𝜙𝑙 ) which, in the far field region (𝑟 >
have the SAR scan directed along the positive 𝑥 axis 𝐿2 /𝜆 ), can approximate as
and the vertical direction along the positive 𝑧 axis.
With this convention the linear GB-SAR acquisition can 𝐾𝑙 (𝑝; 𝜃𝑙 , 𝜙𝑙 ) ≃
4𝜋 4𝜋𝐿
−𝑖 𝑟 𝑖 𝑝 sin 𝜙𝑙
be labelled by the parameter 𝑝 = 𝑥/𝐿 that goes from 𝑒 𝜆 𝑒 𝜆 𝐺 2 (𝜃𝑙 , 𝜙𝑙 ) (7)
−1/2 to 1/2.
Thanks to the system axial symmetry around the Directly from this expression, some properties of the
scan direction, it is natural to define a spherical corresponding SAR imaging, can be deduced: first, the
coordinate system (𝑟, 𝜃𝑙 , 𝜙𝑙 ) as in Figure 3, where 𝑟 is radiation pattern contribution is separated from the
the distance from the coordinate system origin, 𝜃𝑙 is SAR position dependence, therefore the antennas will
the elevation angle or look-angle and 𝜙𝑙 is the azimuth have no effect on the focusing procedure; secondly the
angle. The subscript 𝑙 helps to distinguish these angles azimuth angle is connected to the SAR position
from those that will be defined for the circular case, to parameter through the sine function, indicating that the
which they tend in the small angles limit. angular resolution is not azimuth independent but will
vary as cos −1 𝜙𝑙 ; finally the kernel phase, does not
depend on the elevation angle, therefore the
knowledge of the scenario topography is not necessary
to carry out the focusing.
As discussed before, focused data relative to the
direction 𝜙𝑙 is obtained multiplying the raw data 𝑑(𝑝)
by a steering vector 𝐻𝑙 (𝑝; 𝜙𝑙 ) and integrating along SAR
positions. In this case the generic steering vector is
 4th Joint International Symposium on Deformation Monitoring (JISDM), 15-17 May 2019, Athens, Greece

given by the matched one multiplied by a window taper

function:
4𝜋𝐿
𝐻𝑙 (𝜙𝑙 ; 𝑝) = 𝑊(𝑝)𝑒 −𝑖 𝜆
𝑝 sin 𝜙𝑙
(8)

Considering for example a window taper function

that guarantees a 26 dB PSLR, it is possible to show
from simple simulation (Figure 4) that the
corresponding azimuth resolution 𝛿𝜙𝑙 is the usual

𝜆
𝛿𝜙𝑙 = (9)
2𝐿 cos 𝜙𝑙

Figure 5. Circular GB-SAR geometry

4𝜋
𝑑(𝑝) = ∬ 𝑒 −𝑖 𝜆 𝑟(𝑝) 𝐺 2 (𝜃𝑐′ , 𝜙𝑐′ − 2𝜋𝑝)𝜎(𝜃𝑐′ , 𝜙𝑐′ )𝑑𝜃𝑐′ 𝑑𝜙𝑐′ =
∬ 𝐾𝑐 (𝑝; 𝜃𝑐′ , 𝜙𝑐′ )𝜎(𝜃𝑐′ , 𝜙𝑐′ )𝑑𝜃𝑐′ 𝑑𝜙𝑐′ (11)

Where it has been introduced the circular GB-SAR

kernel 𝐾𝑐 (𝑝; 𝜃𝑐′ , 𝜙𝑐′ ) which in the far field region (𝑟 >
𝑅2 /𝜆 ) can approximate as
𝐾𝑐 (𝑝; 𝜃𝑐 , 𝜙𝑐 ) =
4𝜋
𝑖 𝑅 cos 𝜃𝑐 cos(𝜙𝑐 −2𝜋𝑝)
𝑒 𝜆 𝐺 2 (𝜙𝑐 − 2𝜋𝑝, 𝜃𝑐 ) (12)
Figure 4. PSF of a linear GB-SAR with a 26 dB PSLR
Also in this case, it is possible to deduce some SAR
B. Circular GB-SAR imaging properties directly from the kernel expression:
After reviewing the basic concepts of the linear GB- first, because of the antenna rotation, the radiation
SAR imaging, it is possible to extend them to the circular pattern contribution is not anymore a multiplying factor
scan case. Generic circular GB-SAR system is composed but is convoluted with the SAR position parameter,
by a radar sensor that moves on the 𝑥𝑦 plane along a acting as an analogical window taper function, and
circle of radius 𝑅, thus consider a Cartesian coordinate focusing procedure will depend on the antennas
system (𝑥, 𝑦, 𝑧) with the origin placed at the centre of characteristics. Secondly the azimuth angle is
the SAR rotation and oriented in order to have the axis connected linearly to the SAR position parameter,
of rotation directed along the positive 𝑧 (Figure 5) indicating that the angular resolution is constant, as
Thanks to the system axial symmetry around the expected from a circular scan. Finally the kernel phase
rotation axis, it is also possible to define a spherical depends also on the elevation angle 𝜃𝑐 , therefore it is
coordinate system (𝑟, 𝜃𝑐 , 𝜙𝑐 ) as in Figure 5 and the SAR necessary to have a certain knowledge of the scenario
scan positions can be labelled by the parameter 𝑝 = topography to carry out properly the focusing.
𝜙𝑐 /2𝜋 that goes from -1/2 to 1/2. Given a point inside As before, data focusing along the direction 𝜙𝑐 is
the monitored scenario it is possible to express the obtained by multiplying the received signal by a
distance 𝑟(𝑝) between the target and a SAR position steering vector 𝐻𝑐 (𝜙𝑐 , 𝜃𝑐 ; 𝑝 ) and integrating along SAR
labelled by 𝑝 as positions. In this case, because of the antenna
contribution, the matched steering vector contains
𝑟(𝑝) = √𝑟 2 − 2𝑟𝑅 cos 𝜃𝑐 cos(2𝜋𝑝 − 𝜙𝑐 ) + 𝑅2 (10)
already a window taper function 𝑊 = 𝐺 2 given by the
antenna radiation pattern. In this case, it is possible to
Analogously to the linear case, consider now a
focus the SAR image directly with the matched steering
circular GB-SAR system with a central wavelength 𝜆 and
vector
an antenna pattern 𝐺(𝜃𝑐 , 𝜙𝑐 ), that aims an acquisition
scenario described by a backscattering coefficient
𝐻𝑐 (𝜙𝑐 , 𝜃𝑐 ; 𝑝 ) =
𝜎(𝜃𝑐 , 𝜙𝑐 ). After range focusing, the raw data 𝑑 received 4𝜋
𝐺 2 (𝜙𝑐 − 2𝜋𝑝, 𝜃𝑐 )𝑒 −𝑖 𝜆 𝑅 cos 𝜃𝑐 cos(𝜙𝑐 −2𝜋𝑝) (13)
at the SAR position 𝑝 can be expressed as
 4th Joint International Symposium on Deformation Monitoring (JISDM), 15-17 May 2019, Athens, Greece

To compare the circular PSF to the linear one, it is A. System hardware description
possible to select an appropriate antenna pattern and IBIS-ArcSAR hardware basically consists of an
the correspondent steering vector, to obtain a 26 dB interferometric radar sensor moved by a rotating
PSLR; the simulation shows that also in the circular case mechanical arm, all positioned on a mobile trailer
the corresponding azimuth resolution is the usual one equipped with a built-in power supply system that,
for the circular SAR (Pieraccini et al. 2017): combined with a total power consumption of less than
100 W, guarantees the autonomy of the whole system
𝜆
𝛿𝜙𝑐 = 𝜙 (14) (Figure 7)
4𝑅 sin 𝐵𝑊
2

Where 𝜙𝐵𝑊 is the antenna azimuth beamwidth.

Figure 7. IBIS ArcSAR system hardware overview

Compared to current GB-SAR systems, the major

innovations introduced by IBIS-ArcSAR, reside in the
arm-sensor module, that, in addition to the new
scanning mode, integrates two GNSS antennas, a High-
Definition (HD) camera, and two additional Radar
channels, connected to two horn antennas. (Figure 8)

Figure 5. PSF of a circular GB-SAR with a 26 dB PSLR

III. IBIS-ARCSAR SYSTEM

IBIS-ArcSAR is a recently developed circular GB-SAR

system by IDS GeoRadar; this innovative system has
been conceived to bring in the mining industry 360° pit
coverage capabilities from one single equipment. The
Hardware and Software architecture have been
designed for fast deployment and robustness, to ensure
the highest operating standards even in a complex
environment such as the mining one. The system
technical specifications are resumed in Table 1.
Figure 8. IBIS ArcSAR HW description
In this section IBIS ArcSAR system is described and
some real datasets are presented and discussed.
The two GNSS antennas are separated by a 1.3 m
baseline and connected to a dual-frequency, dual-
Table 1. IBIS-ArcSAR specification
antenna GNSS receiver that allows the automatic
Column 1
Wavelength 17.43 mm measurement of system position and orientation with
Power transmitted ≤ 20 dBm better accuracy than the system spatial resolution
Range resolution 37.5 cm (Table 1). This integration considerably simplifies the
Azimuth resolution 4.3 mrad geocoding procedure of the radar data, which is
Operative range 5 km currently carried out manually by the GB-SAR users.The
Azimuth FoV 360° HD camera is a 16 Megapixel (MP) camera with 34°x49°
Elevation FoV 60° field of view, that moves jointly with the sensor, taking
Scan time 360° in 40s several pictures during the circular scan. Once all the
photos have been acquired, it is possible to process
them with photo-stitching techniques to obtain a single
 4th Joint International Symposium on Deformation Monitoring (JISDM), 15-17 May 2019, Athens, Greece

360°x49° field of view panoramic image, large up to 180 reported, allowing the application of geohazard alarms
MP. based on deformation rates.
The two additional radar channels (one transmitter
and one receiver) allow to acquire, in Multiple Input
Multiple Output (MIMO) mode, four data streams at
different baselines with a total 150 mm height.In this
way, with only one SAR acquisition it is possible to
estimate the scenario topography with no atmospheric
contribution to the interferometric phase (Noferini et
al. 2007), and use this information to perform both the
focusing stage and the DTM reconstruction of the
acquired scenario at low computational cost (Viviani et
al. 2018).

B. Data Analysis
Figure 10. First scenario - Temporal coherence map
In this section two real IBIS-ArcSAR datasets are computed over 61 consecutive acquisitions.
presented and discussed, with particular attention to
the system's ability to acquire large FoV images.
The first scenario considered is an open pit gold mine
with a diameter of about 2 km. IBIS-ArcSAR was
deployed around halfway down the pit slope allowing
to acquire relevant signals over all 360° of the circular
scan, and to identify about 520’000 Permanent
Scatterers (PS) (Ferretti et al. 2001) in the SAR image
(Figure 9).

Figure 11. First scenario - Geocoded Velocity map

The second scenario considered is an open pit gold

mine with a diameter of about 1.5 km; in this case IBIS-
ArcSAR was deployed on one side of the pit, in order to
cover the whole opposite slope inside a 150° FoV. The
peculiarity of this dataset is that it contains a large
moving area, occupying an angular sector greater than
Figure 9. First scenario - Geocoded Power map 40°. In these particular conditions, the IBIS-ArcSAR
broad coverage allows to measure, together with the
To better quantify the quality of interferometric moving PS, a considerable number of stable PS which in
data, temporal coherence was computed over a subset turn allows a more effective atmospheric
of 61 consecutive images, corresponding to 2h of compensation. To better illustrate this concept, it is
continuous monitoring (Figure 10). The result indicates useful to consider Figure 12, where a raw interferogram
that more than 90% of the selected PS have a is reported. Analyzing the interferometric phase only in
temporal coherence greater than 0.9, while about 40% the azimuth central sector, it would be difficult to
of the PS have a temporal coherence even greater distinguish the atmospheric contribution from that due
than 0.995, equivalent to a deformation measurement to the real deformation. On the other hand, considering
precision better than 0.1 mm (Just et al. 1994). the phase globally, it is not complicated to distinguish
Starting from this data quality it is possible to obtain the linear varying atmospheric contribution from the
excellent results of the interferometric processing, strongly non-linear deformation, and thus compensate
which can be used by mine geotechnics in the form of the Atmospheric Phase Screen over the whole
displacement or velocity maps. As an example, in interferogram (Figure 13)
Figure 11 is shown the geocoded velocity map
computed over a 24 h interval. The area subject to
deformation, is clearly visible and identifiable within
the pit. Moreover, the velocity of every PS is precisely
 4th Joint International Symposium on Deformation Monitoring (JISDM), 15-17 May 2019, Athens, Greece

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