As a non-destructive technique, ground penetrating radar (GPR) is extensively used for detecting underground pipelines. To find out the distribution of underground pipelines and avoid the damage for them. In this paper, the underground pipelines with different materials were simulated using gprMax, i.e., concrete, copper, iron, and PVC pipelines. Peplinski's semi-empirical soil was taken into account to ensure that the soil environment more closely real conditions. In order to get clearer and highlight echo signals, the average method was used. A discussion about different kinds of pipelines B-scan profile to analyze the electromagnetic properties of the microwave propagation in underground media. At last, a comparative analysis was conducted on the B-scan images of the four-pipeline model under uniform soil and simulated soil conditions to evaluate the impact of different soil conditions on the echo signals. Through analyzing the electromagnetic characteristics of underground pipelines to verify the advantages of ground penetrating radar in the measurement of underground pipelines.