A ground penetration radar (GPR) antenna system is integrated into a digging machine such that the system is configured to remain operable under the same environmental conditions as the machine. The system includes a GPR antenna and an inertial measurement unit (IMU). The GPR antenna includes a rectangular hollow enclosure made of a conductive material defining a cavity therein and is affixed to a bucket of the digging machine. The IMU is mounted to the hollow enclosure and provides a space trajectory over time of the GPR antenna on the bucket as the digging machine is operated.