The present disclosure provides a four-dimensional imaging method for structural damage based on a time-invariant characteristic signal. The method first uses a probability statistical modeling method to describe the uncertainty distribution of the amplitude of each sampling point in the signal in the healthy state and the damaged state of the structure, respectively. Then the degree of difference between the two distributions at each point is measured to suppress the influence of the time-varying factor, highlight the influence of damage, and construct a time-invariant characteristic signal. Finally, the time-invariant characteristic signal of the pitch-catch channel is fused by using the guided wave imaging method to further enhance the influence of damage. Based on this, four-dimensional imaging is performed to achieve reliable and accurate location of structural damage. The present disclosure solves the problem that the conventional method is difficult to perform reliable damage diagnosis under time-varying service conditions.
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