A Physics-Guided Quantitative GPR Framework for Detecting Hanging Sleepers in Ballasted Railway Tracks

Sleeper voids, or hanging sleepers, in ballasted railway tracks threaten structural safety and serviceability. This study proposes a physics-guided quantitative ground-penetrating radar (GPR) framework for detecting hanging sleepers using high-frequency antennas (f≥1.5 GHz). The framework integrates signal post-processing, sleeper-region localization, time-domain peak searching with polarity consideration, and continuous wavelet transform (CWT) as auxiliary verification. By exploiting the physical geometric relationship between the sleeper and ballast interfaces, the method quantitatively estimates their elevation difference and identifies hanging sleepers according to engineering criteria. Spatial continuity constraints are further introduced to reduce false detections. Validation through gprMax simulations and field experiments demonstrates effective detection and severity assessments, providing a physically interpretable solution for automated railway inspection.