In this paper, system optimization design technique of an impulse ground penetrating image radar (GPIR) in time domain is proposed to improve depth resolution of the system. For the purpose, time domain analysis method of key components such as impulse generator and UWB antenna is explained and by simulation, parameters of each component are determined. In particular, by standardizing the impulse signal, spectrum efficiency of a radiated impulse signal is improved and a U-shaped planar dipole antenna for a UWB antenna is developed. By equipping a parabolic metal reflector with the proposed antenna, external noise is prevented and the ability of radiating an input impulse into ground is improved. In addition, to remove ringing effect of the propose antenna which causes serious degradation of the system performance, resistors are loaded at the edge of the antenna and then Tx and Rx UWB antennas are optimized by simulation in time domain. For images of targets buried under the ground migration technique is applied and influence of tough ground surface on distortion of received impulse signals is reduced using technique of noise and signal distortion reduction in time domain and its time resolution is enhanced. To verify the design optimization procedure, a prototype of an GPIR and an artificial test field are made. Measurement results show that the resolution of the system designed is as good as that of a theoretical model.