Abstract: Ground penetrating radar (GPR) technology has been widely used in the detection of geological structure and potential safety hazards. Limited by complex geological conditions, the conventional GPR detection antenna system has some defects, such as shallow detection depth and reduced deep detection accuracy, and it is difficult to realize real-time processing function. Compared with the conventional GPR antenna system, the developed low-frequency GPR shielding antenna system in this paper has two characteristics: ①Through the low-frequency shielding and impedance matching design, the focusing and radiation characteristics of the antenna are enhanced, which can effectively shield environmental interference signals and improve the signal-to-noise ratio of data; ②A real-time data processing framework based on FPGA is proposed, and the integration of data interpolation, denoising, gain and other processing algorithms is realized by the application of programmable on-chip development, realizing real-time processing. The test results show that the detection depth of the low-frequency GPR antenna system can reach 30 m in the urban environment. The FPGA-based processing module realizes the real-time processing of the data, and the digital image real-time processing algorithm can improve the processing of relative conventional data, such as the image information entropy and the average gradient are increased by 13.72% and 12.44% on average.