CN102278988B - Walking positioning method and equipment - Google Patents
Walking positioning method and equipment Download PDFInfo
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Abstract
The invention provides a walking positioning method. The method provided by the invention comprises the following steps: measuring the acceleration of a motion of human body foot ends in a local coordinate system, wherein the local coordinate system is a motion reference coordinate system; measuring the attitude data of the human body foot ends in a global coordinate system; converting the acceleration into the global coordinate system according to the attitude data, wherein the global coordinate system is a fixed parameter coordinate system; carrying out integral operation on the acceleration of the global coordinate system converted in a time slot from starting walking to dropping steps, thereby obtaining the displacement of each step; and obtaining a walking track to realize human body positioning according to navigation data in the attitude data of the human body foot ends and the displacement of each step. The invention also provides walking positioning equipment. In the invention, the stride of human body walking is the actual step length; the more accurate human body positioning can be obtained through the navigation data; and technical problems in the prior art can be better solved.
Description
Technical field
The present invention relates to micromechanics (MEMS) positioning field, relate in particular to a kind of walking positioning method and equipment.
Background technology
Along with the development of location technology, the application of person location is more and more extensive.Mention the location of target object, what people expected usually is the GPS location technology, but except the precision of military GPS location is higher, and civilian GPS locates that often error range is larger, can not satisfy the practical application needs.In addition, the GPS location depends on satellite-signal, and it is relatively poor to locate satellite-signal such as mine, tunnel, basement etc., and GPS almost can not play a role, and has hindered the widespread use of location technology.There are these shortcomings just because of GPS, some assistant positioning systems have appearred on the market, as use the auxiliary signals such as D-GPS, mobile phone signal, WiFi, Zigbee, RFID and UWB to position, yet, the major defect of these modes is: need to expend huge fund a large amount of auxiliary infrastructures is installed, the installation site of locating effect gene basis facility, the difference of building structure and there are differences.At present, a kind of simple and convenient, personal location technology with low cost are to adopt electronic pedometer, this device interior is equipped with the course instrument of accelerometer and similar compass, accelerometer is used for starting to walk to measure the step number of people's walking with the acceleration change in the step that falls according to people's walking process of advancing, then the average stride that will know in advance calculates the change in displacement in per step as fixing input, draw again people's walking track in conjunction with the course data of course instrument, thereby realize the location.But, the paces length (stride) of the each input of this method is relatively fixing, and in fact step size vary with each individual, because of the time different, even the stride of same person under different states also may be different, thereby use this technology can't realize the accurate location of the person.
Summary of the invention
In view of this, the invention provides the method and apparatus of a kind of walking location, utilize the physical relation between acceleration and the displacement, after recording acceleration, accekeration carried out the displacement that per step is tried to achieve in integral operation, again in conjunction with course data with realize the person accurate location.
The method of walking provided by the invention location comprises:
Measure the acceleration of human foot end motion in local coordinate system, described local coordinate is the motion reference coordinate system, and this coordinate system and human body foot Joint are used for as the benchmark of describing the human foot end motion;
In global coordinate system, measure the attitude data of human body foot, according to described attitude data the acceleration of described measurement is transformed into global coordinate system, described world coordinates is to decide the ginseng coordinate system, is used for as the benchmark of describing human foot end motion attitude and movement locus;
To carrying out integral operation to obtain the displacement in per step in starting to the acceleration of time period in step internal conversion to global coordinate system that fall;
Displacement according to the course data in the attitude data of human body foot and described per step obtains the walking track to realize the human body location.
Preferably, described local coordinate is take human body foot barycenter as true origin, take vertical human locomotion direction and the direction of pointing to the right side as X-axis, and take people's walking direction as Y-axis, the coordinate system take the direction of vertical OXY plane points upwards as Z axis; Described world coordinates be walking starting point take the people as true origin, point to east as X-axis take level, take horizontal energized north as Y-axis, point to zenith as the coordinate system of Z axis take vertical ground; Described attitude data comprises the angle of pitch and the roll angle of human foot end motion, and then: describedly the acceleration of measuring in the local coordinate system is transformed into global coordinate system realizes conversion by the acceleration of described measurement and rotation matrix are multiplied each other, described rotation matrix is:
θ in the formula,
Be respectively the angle of pitch and the roll angle of human foot end motion.
Preferably, the acceleration of measuring in local coordinate system is transformed into before the global coordinate system, and described method further comprises:
Acceleration of gravity is transformed into described local coordinate system;
Deduct the described acceleration of gravity that is transformed into local coordinate system with the acceleration of described measurement and obtain revising acceleration, be transformed into global coordinate system and carry out integral operation to obtain displacement in order to should revise acceleration.
Preferably, described starting comprises to the determination step of the time period in step that falls:
Measure the angular velocity of human foot end motion, judge whether described angular velocity equals pre-set threshold value, if so, then walking is judged to be starting or falls the step, this starting or fall to going on foot the place constantly as the beginning or end of starting to the time period in step that falls.
Further preferably, acceleration being carried out integral operation comprises with the step that obtains every step displacement amount:
Acceleration is carried out integral operation with the accumulative total speed in the time period in step that obtains starting to walk to, and this speed is residual velocity;
Described residual velocity is obtained the speed average error divided by the integration total degree in the integration circulation, so that at next integration circulation time, use and carry out the velocity amplitude that integral operation obtains by the acceleration of measuring and deduct described speed average error, described integration circulation is the integral process of starting within the time period in step that falls;
The above-mentioned result who deducts after the speed average error is carried out integral operation to obtain every step displacement amount.
The present invention also provides a kind of walking positioning equipment, and this equipment comprises:
Acceleration analysis module, attitude data measurement module, coordinate transferring, integral operation module and walking track acquisition module, wherein:
Described acceleration analysis module is used for the acceleration in the end motion of local coordinate system measurement human foot, and described local coordinate is the motion reference coordinate system, and this coordinate system and human body foot Joint are used for as the benchmark of describing the human foot end motion;
Described attitude data measurement module is used for the attitude data at global coordinate system measurement human body foot;
Described coordinate transferring is used for according to described attitude data the acceleration of described measurement being transformed into global coordinate system, and described world coordinates is to decide the ginseng coordinate system, is used for as the benchmark of describing human foot end motion attitude and movement locus;
Described integral operation module is used for carrying out integral operation to obtain the displacement in per step in starting to the acceleration of time period in step internal conversion to global coordinate system that fall;
Described walking track acquisition module is used for obtaining the human locomotion track to realize the human body location according to course data and the displacement in described per step of the attitude data of human body foot.
Preferably, described equipment further comprises the acceleration correction module, and then: described coordinate transferring also is used for acceleration of gravity is transformed into described local coordinate system; Described acceleration correction module was used for before the acceleration that local coordinate system is measured is transformed into global coordinate system, call described coordinate transferring acceleration of gravity is transformed into described local coordinate system, and deduct the described acceleration of gravity that is transformed into local coordinate system with the acceleration of described measurement and obtain revising acceleration, be transformed into global coordinate system and carried out integral operation to obtain displacement in order to should revise acceleration.
Preferably, described integral operation module comprises that gait judges submodule and integral operation submodule, the described gait step state that comprises starting, moves one's steps and fall, and then: described attitude data measurement module also is used for the angular velocity of measurement human foot end motion; After described gait judges that submodule calls described attitude data measurement module and obtains the angular velocity of human body foot, judge whether described angular velocity equals in the pre-set threshold value, if so, then will go on foot appearance and be judged to be starting or fall the step, and stop to call the integral operation submodule acceleration is carried out integral operation; If not, then gait is judged to be and moves one's steps, and call the integral operation submodule acceleration is carried out integral operation to obtain every step displacement amount.
Further preferably, described equipment further comprises the error concealment submodule, and this error concealment submodule is used for calling the integral operation submodule acceleration is carried out integral operation with the accumulative speed in the time period in step that obtains starting to walk to, and this speed is residual velocity; Described residual velocity is obtained the speed average error divided by the integration total degree in the integration circulation, use at next integration circulation time and to carry out the velocity amplitude that each integral operation obtains by acceleration and deduct described speed average error, so that the integral operation submodule carries out integral operation to obtain every step displacement amount to the result that this deducts after the speed average error; The integral process of described integration circulation for starting to walk within the time period in step that falls.
The present invention is by measuring the acceleration in the human locomotion process, and in global coordinate system, this acceleration is carried out integral operation, thereby obtain the displacement in per step, then obtain the movement locus of human locomotion in conjunction with the attitude course data of human body foot, thereby realize the human locomotion location.Compared with prior art, the stride of human locomotion of the present invention no longer is fixed value, but actual paces length can obtain more accurate human body location by course data, has solved preferably the technical matters of prior art.
Description of drawings
Fig. 1 is the process flow diagram of embodiment of the method one of the present invention;
Fig. 2 is the reference frame synoptic diagram of embodiment of the method two of the present invention;
Fig. 3 is the process flow diagram of embodiment of the method three of the present invention;
Fig. 4 is the acceleration correction synoptic diagram of the measurement of embodiment of the method three of the present invention;
Fig. 5 is the synoptic diagram that the gait of embodiment of the method four of the present invention is judged;
Fig. 6 is the composition frame chart of apparatus embodiments six of the present invention.
Embodiment
Main thought of the present invention is: the acceleration of the human foot end motion that records under the local coordinate system is transformed in the global coordinate system, by carrying out integral operation and obtain the walking displacement being transformed into acceleration under the global coordinate system, and obtain people's walking track in conjunction with the course data of human body foot, thereby realize person location.
For making those skilled in the art can further understand feature of the present invention and technology contents, below in conjunction with drawings and Examples, technical scheme of the present invention is described in detail.
Embodiment one
When a people varies to certain terminal point by manner of walking from a known starting point, if realize the human body location, then should know at least displacement and the mobile direction of human motion, can describe out the movement locus of human body according to these two data, thereby realize person location.As previously mentioned, obtain displacement by multiply by average stride with mobile step number, realize the method for location, its technique effect varies with each individual, because of the time different, can not locate exactly the movement locus of human body.The method that embodiments of the invention have provided a kind of human locomotion location efficiently solves above-mentioned technical matters.Referring to accompanying drawing 1, the method comprises:
Step S101: measure the acceleration of human foot end motion in local coordinate system, described local coordinate is the motion reference coordinate system, and this coordinate system and human body foot Joint are used for as the benchmark of describing the human foot end motion.
Realization human body location, at first need to choose coordinate system, coordinate system is portrayal and the platform of describing the target object state, although how to choose particularly the motion state that coordinate system does not change object, the suitable coordinate system of choosing is conducive to realize intuitively, quickly and easily object localization.Generally speaking, describe the movement locus of object and need to choose two coordinate systems, one is to decide the ginseng coordinate system, and one is the motion reference coordinate system, and the former is static with respect to the observer, is used for presenting the movement locus of moving object; The latter is static with respect to moving object itself, and namely this coordinate system anchors in the moving object, and moving coordinate system namely is the movement locus of moving object with respect to the variation of deciding the ginseng coordinate system.After choosing coordinate system, carry out DATA REASONING and collect and surveying instrument need to be placed on the appropriate location, since best embody during human locomotion the people change in displacement be people's foot, therefore surveying instrument can be arranged on the footwear or be bundled on people's the foot, for be placed on foot specifically where embodiments of the invention are not made particular determination, this can process flexibly according to actual conditions.
Step S102: the attitude data of in global coordinate system, measuring the human body foot, according to described attitude data the acceleration of described measurement is transformed into global coordinate system, described world coordinates is to decide the ginseng coordinate system, is used for as the benchmark of describing human foot end motion attitude and movement locus.
In people's gait processes, the attitude of foot is unfixing, may neglect under the upper youngster of neglecting of youngster, in global coordinate system, form thus the angle of pitch, this angle of pitch is that local coordinate system rotates the angle that forms around global coordinate system, form roll angle thereby also may tilting rolls, also may vacillate now to the left, now to the right causes the course to change, therefore, people's step attitude can be portrayed by above-mentioned three angle values, can use the angular velocity instrument to measure when measuring, modal angular velocity instrument is gyroscope; The attitude data that obtains by gyroscope survey is for realizing that the first acceleration is tied to the conversion of global coordinate system by local coordinate, the different attitudes of foot are so that local coordinate is tied to each concrete conversion tolerance difference constantly of global coordinate system, but common this conversion can realize by transition matrix, because walking forward when the people walked, transformational relation between two kinds of coordinate systems depends primarily on the angle of pitch and roll angle, and the variation of course angle in one strides of foot motion is close to and can ignores, therefore, transition matrix mainly is a matrix about the angle of pitch and roll angle.
Step S103: to carrying out the displacement that integral operation obtains per step in starting to the acceleration of time period in step internal conversion to global coordinate system that fall.
People's a gait processes is feasible to be divided into three gaits: start to walk, move one's steps and fall the step, the acceleration change in each stage is different, from starting to walk to the stage of moving one's steps, speed increases sharply by zero, acceleration becomes greatly suddenly, and mild in translation step stage speed, acceleration change is less, from moving one's steps to the step section, rapid variation occurs again in acceleration.Because the numerical value of the different constantly acceleration of different phase is different, therefore ask the displacement of calculating paces need to carry out stage by stage integration, the time interval of integration divides less, the result is more accurate, integration interval is larger, and the result is more rough, and integration interval depends on sample frequency, the frequency of acceleration analysis instrument acceleration measurement is higher, sampling interval is less, and integration interval is just less, this shows, if need to improve precision, can increase sample frequency; Carry out an integral operation by the acceleration that measures and to obtain speed, carry out again an integration and can obtain displacement, owing to be that the time is carried out line integral all, therefore also can directly carry out double integral to obtain displacement to acceleration; Being formulated above-mentioned integral process is:
S in the formula
jThe displacement in j step, a
iIntegration section [t
I-1, t
i] interior acceleration, n is from starting moment point T
0To the step moment point T that falls
nThe circulation of integration in the integration total degree.
Step S104: the displacement according to the course data in the attitude data of human body foot and described per step obtains the walking track to realize the human body location.
The human motion track is comprised of the displacement in per step, after obtaining each step displacement by above-mentioned steps, the course angle that records during again in conjunction with the attitude data of measuring the human body foot, can obtain the track of human locomotion, thereby add that on known starting point basis the walking track can obtain the coordinate in the final position that the people moves to, realize thus person location.
Present embodiment is measured the acceleration in the human locomotion process in local coordinate system, then this acceleration is transformed in the global coordinate system, and in global coordinate system, this acceleration is carried out the double integral computing, thereby obtain the displacement in per step, then obtain the movement locus of human locomotion in conjunction with the attitude course data of human body foot, thereby realize the human locomotion location.Compared with prior art, the stride of the human locomotion of present embodiment no longer is fixed value, but actual paces length can obtain describing more accurately the human motion track by course data, has solved preferably the technical matters of prior art.
Embodiment two
Although mentioned the track that can not change human locomotion of choosing of coordinate system in above-described embodiment,, suitably choose coordinate system and can play convenient observation, simplify the effect of calculating, raising the efficiency.Present embodiment is preferably set up coordinate system according to following method, referring to accompanying drawing 2.
Local coordinate system anchors at the human foot, the true origin of this coordinate system is human body foot barycenter, take vertical people's walking direction and the direction of pointing to the right side as X-axis, take people's walking direction as Y-axis, the coordinate system take the direction of vertical OXY plane points upwards as Z axis; Global coordinate system points to east as X-axis take people's walking starting point as true origin take level, take horizontal energized north as Y-axis, points to zenith as the coordinate system of Z axis take vertical ground.
In fact the selection of coordinate system can also have other various ways, true origin such as local coordinate system not necessarily must be at human body foot barycenter, can also be other location points, even can be arranged on a certain position of footwear, all can represent the motion state of human body paces because these are put, thereby how choose the realization that true origin does not affect goal of the invention of the present invention.Similarly, the true origin of global coordinate system also is not limited to walking starting point take the pedestrian as initial point, can also be arranged on other points of being convenient to observer's observation, as long as predict in advance the coordinate figure of human locomotion starting point, after obtaining displacement and course data, still can calculate the coordinate figure of human body terminal point position, thereby realize the location.
After setting up the coordinate system shown in the accompanying drawing 2 according to present embodiment, the transformational relation of two coordinate systems namely is fixed up, because the acceleration measurement instrument can be measured three acceleration on axially in the embodiments of the invention, therefore the conversion between two coordinate systems can be passed through transition matrix (RGL) and realizes as intermediary.Transition matrix (RGL) is according to as shown in the formula sub-definite:
θ in the formula,
Be respectively the angle of pitch and the roll angle of human foot end motion.
In the time the physical quantity in the global coordinate system need to being transformed in the local coordinate system, with the amount in the global coordinate system and above-mentioned transition matrix (RGL) multiply each other can realize the conversion; In the time the physical quantity in the local coordinate system need to being transformed in the global coordinate system, with the amount in the local coordinate system and the transposition (RLG=RGL of above-mentioned transition matrix
T) multiply each other and can realize conversion.
Embodiment three
When above-described embodiment is measured the acceleration of human foot end motion, do not consider acceleration of gravity.And in fact, because the ubiquity of acceleration of gravity, the measured acceleration of surveying instrument that is arranged on foot can not truly reflect the acceleration of human foot end motion, if accekeration is inaccurate, deviation must occur in the displacement of being calculated by accelerometer, causes accurately locating the final position of human body.In order more accurately to realize the human body location, present embodiment provides a kind of method of eliminating gravity effect.Present embodiment is compared with embodiment one, and except the correction step that increases acceleration, all the other steps are all identical.Referring to accompanying drawing 3, present embodiment increases step as described below between the S101 of embodiment one and S102 step, and the sequence number of all the other steps is adjusted accordingly.
Step S302: acceleration of gravity is transformed into described local coordinate system.
The acceleration of gravity ubiquity, it does not change along with the variation of human foot end motion state, and therefore, acceleration of gravity is the physical quantity in global coordinate system; In order to carry out computing with the acceleration that measures (the first acceleration), two physical quantitys must be placed under the identical reference frame, present embodiment is selected acceleration of gravity is transformed into local coordinate system, and concrete conversion method can adopt embodiment two described methods to realize conversion.
Step S303: the acceleration with described measurement deducts the described acceleration of gravity that is transformed into local coordinate system, obtains revising acceleration, is transformed into global coordinate system and carries out integral operation to obtain displacement in order to should revise acceleration.
Measure the acceleration analysis instrument of human body foot and can measure three axial acceleration, after above-mentioned acceleration of gravity is transformed into local coordinate system, also axially produce component at three, accekeration on each is axial is the true accekeration of human body foot and the stack of gravity acceleration value, therefore, for reducing or eliminate the impact of acceleration of gravity, only need to deduct the component of acceleration of gravity on this is axial with the component of acceleration measurement on certain is axial and can obtain the true angular velocity value.Referring to accompanying drawing 4, as follows with formulae express:
a′＝a-sinθ×g
θ is the angle of pitch of human body foot in the formula, and a is the total acceleration (acceleration of measurement) that the acceleration analysis instrument is surveyed, and a ' is true acceleration.Three axially all calculate in the manner described above true acceleration after, these accekerations are transformed to again carry out integral operation in the global coordinate system.
Present embodiment is revised the acceleration value that the acceleration analysis instrument records, reduce or eliminated the impact of acceleration of gravity, so that the acceleration that adopts during integral operation reflects the motion of human body foot as far as possible truly, thereby obtain more reliably displacement to realize the accurate location of human body.
Embodiment four
People's walking track is obtained in conjunction with course data by every step displacement amount, and the displacement in per step obtains by the double integral to the walking acceleration, and the starting point of integration circulation is that human body is in the starting gait, and terminal point is that human body is in step by step in the attitude.Although can think that in theory the speed of human body paces when starting to walk or falling to going on foot state is zero, but in practical application, the speed of people's foot when starting to walk or falling to going on foot may not be zero, this depends on people's the speed of travel, walking posture, the many factors such as surface state, such as, the people walks at Shamian Island, because Shamian Island is fluffy sparse, the speed of foot can not reduce to zero immediately when foot touched Shamian Island, but there is a buffering course, if this section buffering course is proceeded integral operation, " cutting remaining " error (Δ S) appears in the displacement that will cause obtaining, and the result who obtains thus can not reflect the track of people's walking truly.In starting or when falling to going on foot in the non-vanishing situation of foot speed, should stop integral operation.For this reason, need to judge starting and the step that falls the time boundary point with the integration terminal of control integral operation.Referring to accompanying drawing 5, present embodiment provides a kind of and has judged starting to the method for time period in step that falls, as long as judged the attitude of walking, can be clearly should the time period the time start-stop, thereby the interval of clear and definite integral operation.The method comprises:
Measure the angular velocity of human foot end motion, judge whether described angular velocity equals pre-set threshold value, if so, then the human locomotion attitude is judged to be starting or falls the step, this starting or fall to going on foot the place constantly as the beginning or end of starting to the time period in step that falls.
Judge starting constantly and fall the step constantly after, interval that can clear and definite integral operation in the time of before the human locomotion attitude is in starting or after the step that falls, namely stops the acceleration of described measurement is carried out the double integral computing to obtain displacement; When the human locomotion attitude is in starting within the time of moving one's steps that falls between the step, then carry out double integral computing to the acceleration of described measurement to obtain displacement; Obtaining of the angular velocity of human foot end motion can obtain in several ways, a kind of method relatively more commonly used is to measure by aforesaid gyroscope, the attitude data (angle of pitch, roll angle, course angle) that gyroscope can be used for measuring the human body foot is mentioned in the front, in fact, the original date that gyroscope survey obtains is three instantaneous angular velocities on axially, this angular velocity is carried out integration namely obtain attitude data, therefore, the angular velocity of human foot end motion can obtain by the instantaneous angular velocity of record gyroscope survey; Obtain the movement velocity of human body foot by this mode after, this speed and pre-set threshold value are carried out matching judgment, the pre-set threshold value here can be determined according to actual after the speed of the attitude of considering people's walking, walking and road surface situation, also can select to obtain by test of many times optimization: the angular velocity of foot motion during the continuous recording walking, the magnitude of angular velocity that record is obtained plots the angular velocity curve, this curve is the curve that crest, trough replace, get the magnitude of angular velocity that curve is in trough and average, this mean value is pre-set threshold value; For increasing accuracy and the validity of pre-set threshold value, can increase step number, such as 10 steps of record walking, 100 steps, even the angular velocity of multistep period of the day from 11 p.m. to 1 a.m foot more, then ask for the mean value of trough as pre-set threshold value.
In the present embodiment angular velocity of the foot that measures motion is directly used in and judges the starting step state that falls, in fact, except this situation, the present invention can also carry out three magnitude of angular velocities on axially to be used for judging gait after certain computing, to avoid the inaccurate of indivedual velocity amplitudes itself.This mathematical operation can be to ask arithmetical mean or geometric mean, perhaps asks variance and mean square deviation.
Starting when present embodiment is walked by detect judging the people with fall the step state so that the scope of integration is more accurate, has deducted and landed the velocity inertial of rear generation, be conducive to more accurately realize the human body location.
Embodiment five
Practical application, acceleration measurement often adopts accelerometer, and accelerometer itself is vulnerable to the acceleration of the process of moving ahead and the impact of the slight irregular oscillation of human body foot, cause thus the acceleration of accelerometer measures to be inaccurate, this error almost exists in each integration circulation, and effect is suitable.Therefore, in order to eliminate this " intrinsic " error of accelerometer, present embodiment is by the error of first integration circulation of record, then this error is divided the each integral process in the integration circulation, when the circulation of next integration is carried out integration to the acceleration of measuring, deduct first this inherent error at every turn and carry out again integral operation, thereby realize reducing or eliminating of error.Present embodiment provides reduces or the method for eliminating accelerometer this " intrinsic " error comprises:
The first step: acceleration is carried out integral operation with the accumulative total speed in the time period in step that obtains starting to walk to, and this speed is residual velocity; In a upper embodiment, narrated attitude how to judge human locomotion, the purpose of judging this attitude is to determine that integral operation asks for the beginning and ending time of displacement, the human locomotion attitude begins should stop in the hope of getting the integral operation that displacement is purpose within the time period between the starting constantly of next paces from the step that falls constantly, but, because the reasons such as " intrinsic " factor in the above-mentioned acceleration measurement process and road surface situation, cause falling also having " residual velocity " after the step, this residual velocity can form by acceleration is carried out the speed accumulation that integration obtains in starting within the time period in step that falls at every turn, is formulated as:
V in the formula
jThe residual velocity in j step, a
iIntegration section [t
I-1, t
i] interior acceleration, n is from starting moment point T
0To the step moment point T that falls
nThe circulation of integration in the integration total degree.
Second step: described residual velocity is obtained the speed average error divided by the integration total degree in the integration circulation, use at next integration circulation time and to carry out the velocity amplitude that integral operation obtains by acceleration and deduct described speed average error, in order to this result who deducts the speed average error is carried out integral operation to obtain every step displacement amount; The integral process of described integration circulation for starting to walk within the time period in step that falls; Be formulated as:
S in the formula
J+1The displacement in j+1 step, a
J+1, iJ+1 step integration inherent integration section [t that circulates
I-1, t
i] on acceleration, n is the integration total degree in the circulation of integration.
Present embodiment has been considered the accuracy problem of accelerometer measures, obtain residual velocity by in an integration circulation, acceleration being carried out integration, then this residual velocity is used in next integration cyclic process the integral result of accelerometer being revised, thereby so that the accelerometer of measuring becomes accurately, reduce or eliminated the problem of cumulative errors.
Embodiment six
Previous embodiment all is to describe the embodiment of the inventive method, and correspondingly, the present invention also provides a kind of embodiment of walking positioning equipment.Referring to accompanying drawing 6, this equipment 600 comprises: acceleration analysis module 601, attitude data measurement module 602, coordinate transferring 603, integral operation module 604 and walking track acquisition module 605, wherein: acceleration analysis module 601, be used for the acceleration when local coordinate system is measured the human foot end motion, described local coordinate is the motion reference coordinate system, this coordinate system and human body foot Joint are used for as the benchmark of describing the human foot end motion; Attitude data measurement module 602 is used for the attitude data at global coordinate system measurement human body foot; Coordinate transferring 603 is used for according to described attitude data the acceleration of described measurement being transformed into global coordinate system, and described world coordinates is to decide the ginseng coordinate system, is used for as the benchmark of describing human foot end motion attitude and movement locus; Integral operation module 604 is used for carrying out integral operation to obtain the displacement in per step in starting to the acceleration of time period in step internal conversion to global coordinate system that fall; Walking track acquisition module 605 is used for according to the course data of the attitude data of human body foot and track that the displacement in described per step obtains walking to realize the human body location.
The course of work of present embodiment is: acceleration analysis module 601 measures acceleration in local coordinate system; attitude data measurement module 602 measures the athletic posture data of human body foot in global coordinate system; then calling coordinate transferring 603 is transformed into the acceleration of measuring in the global coordinate system; and the data after will changing are input to integral operation module 604; finish integral operation to the acceleration of described measurement by this module; thereby obtain the displacement in per step, the course data that is then measured in conjunction with attitude data measurement module 602 by walking track acquisition module 605 is obtained the walking track to realize the human body location.
Because the ubiquity of acceleration of gravity, the acceleration that the acceleration analysis module measures in above-described embodiment, the acceleration that in fact can not reflect fully truly the human foot end motion, therefore, for obtaining the accurate location of human locomotion, be necessary the above-mentioned accekeration that measures is revised.Thus, present embodiment can also comprise acceleration correction module 606, this module is used for calling described coordinate transferring before the acceleration that local coordinate system is measured is transformed into global coordinate system acceleration of gravity is transformed into described local coordinate system, and deduct the described acceleration of gravity that is transformed into local coordinate system with the acceleration of described measurement, reduced or eliminated the correction acceleration behind the gravity to be transformed into global coordinate system and to carry out integral operation in order to should revise acceleration.
Need in the present embodiment acceleration is carried out double integral (or twice one time integration), the starting point of this integral operation, terminal point are the startings of human body paces and fall the step, practical application, starting when falling to going on foot speed may and non-vanishing, the existence of acceleration is still arranged, be actually unnecessary and carry out the displacement that integral operation draws this moment, therefore, be necessary to eliminate this point " displacement ".For realizing this purpose, the integral operation module 604 of the described equipment of present embodiment can comprise gait judgement submodule 6041 and integral operation submodule 6042, this module is used for after calling described attitude data measurement module and obtaining the angular velocity of human body foot, judge whether described angular velocity equals pre-set threshold value, if, then will go on foot appearance and be judged to be starting or fall the step, and stop to call the integral operation submodule acceleration is carried out integral operation; If not, then gait is judged to be and moves one's steps, and call the integral operation submodule acceleration is carried out integral operation to obtain every step displacement amount.
The acceleration instrument of acceleration measurement vibration-generating often causes the inaccurate of accelerometer measures in the present embodiment, for this reason, needs to eliminate this " intrinsic " error of accelerometer.Therefore, the integral operation module 604 of present embodiment can also comprise error concealment submodule 6043, this error concealment submodule is used for calling the integral operation submodule acceleration is carried out integral operation with the accumulative speed in the time period in step that obtains starting to walk to, and this speed is residual velocity; Described residual velocity is obtained the speed average error divided by the integration total degree in the integration circulation, use at next integration circulation time and to carry out the velocity amplitude that each integral operation obtains by acceleration and deduct described speed average error, so that the integral operation submodule carries out integral operation to obtain every step displacement amount to the result that this deducts after the speed average error; The integral process of described integration circulation for starting to walk within the time period in step that falls.
It should be noted that: the above embodiment of the present invention has only been narrated with the walking positioning method of artificial research object and equipment, in fact, technical scheme of the present invention is not limited in people's scope applicable, for other animals, such as cat, dog, lion etc., all can adopt the described method and apparatus of the embodiment of the invention to realize their location.In the same way, as long as target object (research object) is to move in the mode that " alternately property " moves ahead, the present invention is all applicable, and " alternative expression " here refers to the cyclicity moving process with " step-starting that starts to walk-move one's steps-fall-".
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within the protection domain of invention.
Claims (9)
1. walking positioning method is characterized in that the method comprises:
Measure the acceleration of human foot end motion in local coordinate system, described local coordinate is the motion reference coordinate system, and this coordinate system and human body foot Joint are used for as the benchmark of describing the human foot end motion;
In global coordinate system, measure the attitude data of human body foot, according to described attitude data the acceleration of described measurement is transformed into global coordinate system, described world coordinates is to decide the ginseng coordinate system, is used for as the benchmark of describing human foot end motion attitude and movement locus;
To carrying out integral operation to obtain the displacement in per step in starting to the acceleration of time period in step internal conversion to global coordinate system that fall;
Displacement according to the course data in the attitude data of human body foot and described per step obtains the walking track to realize the human body location.
2. method according to claim 1, it is characterized in that, described local coordinate is as true origin take human body foot barycenter, take vertical human locomotion direction and the direction of pointing to the right side as X-axis, take people's walking direction as Y-axis, the coordinate system take the direction of vertical OXY plane points upwards as Z axis; Described world coordinates be walking starting point take the people as true origin, point to east as X-axis take level, take horizontal energized north as Y-axis, point to zenith as the coordinate system of Z axis take vertical ground; Described attitude data comprises the angle of pitch and the roll angle of human foot end motion, then:
Describedly the acceleration of measuring in the local coordinate system is transformed into global coordinate system realizes conversion by the acceleration of described measurement and rotation matrix are multiplied each other, described rotation matrix is:
θ in the formula,
Be respectively the angle of pitch and the roll angle of human foot end motion.
3. method according to claim 1 is characterized in that, the acceleration of measuring in local coordinate system is transformed into before the global coordinate system, and described method further comprises:
Acceleration of gravity is transformed into described local coordinate system;
Deduct the described acceleration of gravity that is transformed into local coordinate system with the acceleration of described measurement and obtain revising acceleration, be transformed into global coordinate system and carry out integral operation to obtain displacement in order to should revise acceleration.
4. method according to claim 1 is characterized in that, described starting comprises to the determination step of the time period in step that falls:
Measure the angular velocity of human foot end motion, judge whether described angular velocity equals pre-set threshold value, if so, then walking is judged to be starting or falls the step, this starting or fall to going on foot the place constantly as the beginning or end of starting to the time period in step that falls.
5. method according to claim 4 is characterized in that, comprises with the step that obtains every step displacement amount in that acceleration is carried out integral operation:
Acceleration is carried out integral operation with the accumulative total speed in the time period in step that obtains starting to walk to, and this speed is residual velocity;
Described residual velocity is obtained the speed average error divided by the integration total degree in the integration circulation, so that at next integration circulation time, use and carry out the velocity amplitude that integral operation obtains by acceleration and deduct described speed average error, described integration circulation is the integral process of starting within the time period in step that falls;
The above-mentioned result who deducts after the speed average error is carried out integral operation to obtain every step displacement amount.
6. a walking positioning equipment is characterized in that, this equipment comprises: acceleration analysis module, attitude data measurement module, coordinate transferring, integral operation module and walking track acquisition module, wherein:
Described acceleration analysis module is used for the acceleration in the end motion of local coordinate system measurement human foot, and described local coordinate is the motion reference coordinate system, and this coordinate system and human body foot Joint are used for as the benchmark of describing the human foot end motion;
Described attitude data measurement module is used for the attitude data at global coordinate system measurement human body foot;
Described coordinate transferring is used for according to described attitude data the acceleration of described measurement being transformed into global coordinate system, and described world coordinates is to decide the ginseng coordinate system, is used for as the benchmark of describing human foot end motion attitude and movement locus;
Described integral operation module is used for carrying out integral operation to obtain the displacement in per step in starting to the acceleration of time period in step internal conversion to global coordinate system that fall;
Described walking track acquisition module is used for obtaining the walking track to realize the human body location according to course data and the displacement in described per step of the attitude data of human body foot.
7. equipment according to claim 6 is characterized in that, described equipment further comprises the acceleration correction module, then:
Described coordinate transferring also is used for acceleration of gravity is transformed into described local coordinate system; Described acceleration correction module was used for before the acceleration that local coordinate system is measured is transformed into global coordinate system, call described coordinate transferring acceleration of gravity is transformed into described local coordinate system, and deduct the described acceleration of gravity that is transformed into local coordinate system with the acceleration of described measurement and obtain revising acceleration, be transformed into global coordinate system and carried out integral operation to obtain displacement in order to should revise acceleration.
8. equipment according to claim 6 is characterized in that, described integral operation module comprises that gait judges submodule and integral operation submodule, the described gait step state that comprises starting, moves one's steps and fall, then:
Described attitude data measurement module also is used for measuring the angular velocity of human foot end motion; After described gait judges that submodule calls described attitude data measurement module and obtains the angular velocity of human body foot, judge whether described angular velocity equals pre-set threshold value, if so, then walking is judged to be starting or falls the step, and stop to call the integral operation submodule acceleration is carried out integral operation; If not, then gait is judged to be and moves one's steps, and call the integral operation submodule acceleration is carried out integral operation to obtain every step displacement amount.
9. equipment according to claim 8, it is characterized in that, described integral operation module further comprises the error concealment submodule, this error concealment submodule is used for calling the integral operation submodule acceleration is carried out integral operation with the accumulative speed in the time period in step that obtains starting to walk to, and this speed is residual velocity; Described residual velocity is obtained the speed average error divided by the integration total degree in the integration circulation, use at next integration circulation time and to carry out the velocity amplitude that each integral operation obtains by acceleration and deduct described speed average error, carry out integral operation and obtain every step displacement amount so that the integral operation submodule deducts result after the speed average error to this; The integral process of described integration circulation for starting to walk within the time period in step that falls.
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| CN103968855A (en) * | 2013-02-04 | 2014-08-06 | ***通信集团公司 | Movement locus detection method, mobile terminal and pedometer |
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| CN103557862A (en) * | 2013-10-29 | 2014-02-05 | 南京邮电大学 | Detection method for movement track of mobile terminal |
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| CN107632966B (en) * | 2017-09-08 | 2021-10-19 | 歌尔科技有限公司 | Motion trajectory determination method and electronic equipment |
| CN107811639B (en) * | 2017-09-25 | 2020-07-24 | 天津大学 | Method for determining mid-stance phase of gait based on kinematic data |
| CN107976559A (en) * | 2017-10-11 | 2018-05-01 | 常州信息职业技术学院 | Acceleration of gravity method is filtered out based on rest point detection |
| CN107917707B (en) * | 2017-11-20 | 2021-07-23 | 北京邮电大学 | Method and device for determining pedestrian direction under any posture and electronic equipment |
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| CN113543858B (en) * | 2019-01-09 | 2024-04-26 | 瞬动科技股份有限公司 | Method and apparatus for controlling a mobile device using estimated gait trajectories |
| CN112261221B (en) * | 2020-09-21 | 2021-10-26 | 电子科技大学 | Human body falling detection method based on intelligent terminal |
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| CN100390503C (en) * | 2004-03-26 | 2008-05-28 | 清华大学 | Laser tracking inertia combined measuring system and its measuring method |
| EP1867951B1 (en) * | 2005-03-28 | 2014-03-19 | Asahi Kasei EMD Corporation | Traveling direction measuring apparatus and traveling direction measuring method |
| CN100587641C (en) * | 2007-08-06 | 2010-02-03 | 北京航空航天大学 | A kind of attitude determination system that is applicable to the arbitrary motion mini system |
| CN100595520C (en) * | 2008-02-21 | 2010-03-24 | 上海交通大学 | Method for locating walker |
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