CN104546391A - Gyro stabilizer for tactile sticks and complementary filtering method thereof - Google Patents
Gyro stabilizer for tactile sticks and complementary filtering method thereof Download PDFInfo
- Publication number
- CN104546391A CN104546391A CN201510049666.0A CN201510049666A CN104546391A CN 104546391 A CN104546391 A CN 104546391A CN 201510049666 A CN201510049666 A CN 201510049666A CN 104546391 A CN104546391 A CN 104546391A
- Authority
- CN
- China
- Prior art keywords
- angle
- gyrosensor
- acceleration
- angular acceleration
- stick
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000000295 complement effect Effects 0.000 title claims abstract description 29
- 238000001914 filtration Methods 0.000 title abstract description 9
- 239000003381 stabilizer Substances 0.000 title abstract 4
- 230000001133 acceleration Effects 0.000 claims abstract description 70
- 238000009499 grossing Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 13
- 238000005070 sampling Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 9
- 230000008859 change Effects 0.000 abstract description 4
- 238000012804 iterative process Methods 0.000 abstract 1
- 238000007781 pre-processing Methods 0.000 abstract 1
- 230000004888 barrier function Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000007500 overflow downdraw method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000001550 time effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Landscapes
- Gyroscopes (AREA)
Abstract
Disclosed are a gyro stabilizer for tactile sticks and a complementary filtering method thereof. The gyro stabilizer comprises a microcontroller unit, a posture sensor and a motor and carries a ranging module which is connected with a mobile terminal through a wireless module. The complementary filtering method includes: 1, preprocessing data of the sensors; 2, estimating an iterative process based on the angle of an acceleration sensor; 3, compensating measuring results of the acceleration sensor through angular acceleration of a gyro sensor. The gyro stabilizer and the complementary filtering method thereof have the advantages that shaking caused by movement of a blind person is avoided, a preset direction can be effectively locked for ranging, the danger detecting range of a tactile stick is widened, obstacles in air can be accurately recognized, practicality of the tactile stick is effectively improved, great convenience is brought to the blind person, stability is good, response speed is high, an algorithm is simple, noise and drift are significantly suppressed, data are smoother, and high response and high accuracy are ensured in case of great angular change.
Description
Technical field
The present invention relates to gyrostabilization unit and multi-sensor fusion technology field, specifically relate to a kind of gyrostabilization unit for blind man's stick and complementary filter method thereof.
Background technology
Visually impaired people is a colony being subject to social extensive concern.It is limited that tradition blind man's stick has perceived distance, cannot visit distinct disadvantage such as touching barrier above the waist easily.Novel blind man's stick adds distance measurement function, to detect aerial barrier and danger.But the motion of the hand-held blind man's stick of visually impaired people causes range finding unstable, will limit the function of blind man's stick greatly, and previous literature and patent has no effective solution.
Gyrostabilization unit is widely used in fields such as military affairs, navigation, detections.By some high-precision sensors, and some data fusion methods, just can fast, stably tracking control system, coordinate with motion servo system and stabilizing control system etc. simultaneously, can realize stablely following the trail of and correcting.Traditional data fusion method being applied to gyrostabilization unit has complementary filter and Kalman filtering.Complementary filter method is difficult to the influence of noise solving acceleration transducer itself.Kalman filter method needs to set up multiple system equation, and for the compact stabilized platform being applied to blind man's stick, amount of calculation seems too huge.Publication number is the conventional method that the patent " based on accelerometer and gyrostatic carrier speed and corner compensating measurement method " of CN103913171A gives angular surveying, but the corner of one degree of freedom can only be measured, and response speed still can not meet the demands.
Summary of the invention
The object of the invention is to for above-mentioned existing problems and deficiency, there is provided a kind of can avoid bringing because of blind-person sports rock, can effectively lock pre-configured orientation to find range, expand the scope that danger surveyed by blind man's stick, barrier in space can be accurately identified, effectively improve the practicality of blind man's stick, bring the gyrostabilization unit for blind man's stick that blind person greatly facilitates.On this basis, further aim of the present invention is, one is provided to have good stability and response speed, and algorithm is comparatively simple, suppress obviously to noise and drift, not only in data, have more smoothness, simultaneously under significantly angle situation of change, also have the complementary filter method of the gyrostabilization unit of very fast response speed and very high accuracy.
Technical scheme of the present invention is achieved in that
Gyrostabilization unit for blind man's stick of the present invention, the attitude transducer being characterized in comprising microcontroller and be connected with microcontroller and motor, wherein said attitude transducer comprises acceleration transducer and gyrosensor, described microcontroller is also connected with range finder module and the wireless module for being connected with mobile terminal signal, and described range finder module is connected with motor, described motor can be steering wheel or brushless electric machine or Servo-controller, and described acceleration transducer and gyrosensor are three-axis sensor.
The complementary filter method of the gyrostabilization unit for blind man's stick of the present invention, is characterized in comprising the following steps:
The first step: place acceleration transducer and gyrosensor, build gyrostabilization unit, after pretreatment, obtains the angle of acceleration transducer respectively
θ i with the angular acceleration of gyrosensor
ω i data; Wherein, angle
θ i obtained by three dimensions geometrical relationship, angular acceleration
ω i obtained by sensor acquisition and process;
Second step: the first angle of level and smooth acceleration transducer
θ i , obtain Smoothing angle intermediate quantity
x 1, computing formula is:
In formula,
θ i for this angle value;
θ ' ofor angle output valve after previous correction,
k 1for getting a certain proportion of smoothing weights value; That is, the angle of level and smooth acceleration transducer
θ i process be: utilize this angle value
θ i with angle output valve after previous correction
θ ' odifference and (1-
k 1)
2be multiplied and obtain Smoothing angle intermediate quantity
x 1;
x 1after computing, be converted into and can characterize fast-changing class angular acceleration amount
x 2, computing formula is:
In formula, Δ
tfor the sampling interval;
x ' 2for previous class angular acceleration amount; That is, class angular acceleration is converted into
x 2process be: by Smoothing angle intermediate quantity
x 1as integrand, make it carry out integration to the time, be only and sampling interval Δ herein
tbe multiplied, afterwards again with previous class angular acceleration amount
x ' 2cumulative, namely obtain this class angular acceleration amount
x 2;
3rd step: the angular acceleration first utilizing gyrosensor
ω i the angle of compensated acceleration sensor, computing formula is:
In formula,
x 3for the angle intermediate quantity of acceleration transducer calculated;
x 2for class angular acceleration;
ω i for the angular acceleration of gyrosensor;
x 1for Smoothing angle intermediate quantity;
k 2for getting a certain proportion of compensation authority weight values; That is, the process of the angle of compensated acceleration sensor is: class angular acceleration
x 2with the angular acceleration of gyrosensor
ω i be added, and with (1-
k 2) be multiplied after again with angle intermediate quantity
x 1the process be added, obtains angle intermediate quantity by this process
x 3;
Then carry out angle estimation, finally obtain this attitude angle
θ o , computing formula is:
In formula, Δ
tfor the sampling interval;
θ ' ifor the angle of Iterative; That is, the process of angle estimation is: by angle intermediate quantity
x 3as integrand, make it carry out integration to the time, be only and sampling interval Δ herein
tbe multiplied, afterwards again with the angle of Iterative
θ ' icumulative, finally obtain this angle
θ o process.
In the above-mentioned first step, described pretreatment comprises sensor data acquisition and original data processing.
In the above-mentioned first step, described acceleration transducer and gyrosensor need parallel placement, so that eliminate the impact of Coordinate Conversion computing, and its inside at gyrostabilization unit can be placed arbitrarily.
In above-mentioned second step, described smoothing weights value
k 1span be 0 ~ 1.
In above-mentioned 3rd step, described compensation authority weight values
k 2span be 0 ~ 1.
Compared with prior art, tool has the following advantages in the present invention:
On the one hand, the gyrostabilization unit that the present invention proposes, be applied to blind man's stick, can provide great stability, functional module is connected with blind man's stick by gyrostabilization unit, under a stable environment can be operated in, this application improves the practicality of blind man's stick, and range finder module, as functional module, makes the investigative range of blind man's stick obtain raising, barrier in space accurately can be identified by blind man's stick, thus brings blind person great convenience;
On the other hand, under the service precision prerequisite meeting blind-guiding stick use gyrostabilization unit, the present invention proposes a kind of complementary filter method improved, compare traditional complementary filter and only simple weighted average is done to acceleration transducer and gyrosensor data, this method processes respectively for the different qualities of these two kinds of sensors, namely larger to dynamic error acceierometer sensor introduces " smoothly " process, and its angular acceleration values is only got for algorithm compensation for the gyrosensor with accumulated time effect, thus effectively reduce the dynamic error of acceleration transducer and the accumulated time error of gyrosensor, more efficiently utilizes multi-sensor data to realize the fusion of information, therefore can the impact of stress release treatment to greatest extent by this method, simplify computation complexity simultaneously, drastically increase response speed and detection accuracy.
Below in conjunction with accompanying drawing, the present invention is further illustrated.
Accompanying drawing explanation
Fig. 1 is the frame structure schematic diagram of the gyrostabilization unit for blind man's stick of the present invention.
Fig. 2 is the system schematic of complementary filter method of the present invention.
Fig. 3 is the comparison diagram of class angular acceleration in the angle that calculates of the present invention's acceleration transducer data and complementary filter method.
Fig. 4 is the comparison diagram of the angle that acceleration transducer and conventional complementary filtering method resolve respectively with the complementary filter method that present invention improves over.
Detailed description of the invention
As shown in Figure 1, gyrostabilization unit for blind man's stick of the present invention, the attitude transducer comprising microcontroller and be connected with microcontroller and motor, wherein said attitude transducer comprises acceleration transducer and gyrosensor, and described acceleration transducer and gyrosensor are three-axis sensor, described microcontroller is also connected with range finder module and the wireless module for being connected with mobile terminal signal, and described range finder module is connected with motor, described motor is steering wheel, brushless electric machine, Servo-controller or other motor.For the ease of eliminating the impact of Coordinate Conversion computing, described acceleration transducer and gyrosensor arranged in parallel, but its inside at gyrostabilization unit can be placed arbitrarily.
This gyrostabilization unit is the device in two-dimensional space with any attitude, and only has movement tendency in four orientation up and down, and azimuth motion trend can be captured.This gyrostabilization unit is connected on blind man's stick and uses, and by microprocessor controls, provides one more stable working environment to range finder module.Acceleration transducer and gyrosensor are used for the identification of blind man's stick attitude, and identification parameter is mainly angle, is realized by complementary filter method; Complementary filter method of the present invention can the angle of real-time resolving blind man's stick, and utilizes this angle drive motors to rotate; Motor is connected with range finder module, and angle and the blind man's stick movement angle of electric machine rotation offset, to realize finding range more stably.Microcontroller can be mutual by wireless module and mobile terminal, and range finding the data obtained can transfer to mobile terminal, to realize the intelligent barrier avoiding of aerial barrage.Described range finder module mainly realizes distance measurement function, also can be the module helping to realize intelligent barrier avoiding.
The present invention, in the gesture recognition of the gyrostabilization unit of blind man's stick controls, has fit closely application.For the gyrostabilization unit of blind man's stick, be mainly reflected in two-dimensional environment, namely only have movement tendency in four orientation up and down.Blind man's stick is connected to the arm of people, can produce erratic vibrations, can produce random noise thus.Meanwhile, because people uses the feature of blind man's stick to determine, described gyrostabilization unit does not require very high precision, but will embody response speed quickly.Therefore, complementary filter method proposed by the invention is applicable in the gyrostabilization unit needing gesture recognition to control.
The use of gyrostabilization unit of the present invention is described below by concrete example, and the feasibility of complementary filter method and the effectiveness that embodies in actual test process.
As shown in Figure 2, carry out substep to complementary filter method to describe:
The first step: gyrosensor and acceleration transducer are placed on gyrostabilization unit inside abreast, acceleration transducer and gyrosensor all belong to three-axis sensor, so that each axle of gyrosensor can both point to same direction with the axle of acceleration transducer, sensor is connected with data acquisition module simultaneously, ensures that gyrostabilization unit freely can rotate in two-dimensional environment;
Second step: carry out pretreatment to data, comprises sensor data acquisition and original data processing; The sample rate (in the present embodiment, representative value is 125Hz) of setting gyrosensor and acceleration transducer and digital low-pass filtering frequency (in the present embodiment, representative value is 5Hz), obtain the acceleration of the diaxon of acceleration transducer respectively
a x with
a y , and the angular acceleration of gyrosensor
ω i data; Utilize the typical angle of pitch and roll angle computing formula:
θ=arcsin(
a/
g), the angle of acceleration transducer corresponding to corresponding axle can be obtained
θ ix with
θ iy , get the angle of any one axle here, count
θ i , as shown in Figure 3;
3rd step: the angle value utilizing interative computation
θ ' othis angle value level and smooth
θ i , concrete computational process is as follows:
Wherein,
x 1for Smoothing angle intermediate quantity,
x 2for this class angular acceleration amount,
x ' 2the previous class angular acceleration amount obtained is resolved for interative computation,
θ ' othe angle value obtained is resolved for interative computation,
k 1for smoothing weights value, the span of this smoothing weights value is 0 ~ 1, value in this example
k 1=0.005; Δ
tfor the sampling interval, value Δ in this example
t=0.008 s; Can be seen by Fig. 3, the curve after level and smooth is compared with primitive curve, and filtering mechanical noise and shaking interference effectively, can reflect the class angular acceleration amount variation tendency of acceleration transducer exactly;
4th step: the angular acceleration utilizing gyrosensor
ω i the angle of compensated acceleration sensor, and carry out angle estimation, concrete computational process is as follows:
Wherein,
x 3for angle intermediate quantity,
k 2for compensation authority weight values, the span of this compensation authority weight values is 0 ~ 1, in this example
k 2=0.2,
θ ' i the angle obtained is resolved for interative computation; Δ
tfor the sampling interval, value Δ in this example
t=0.008 s, finally tries to achieve this angle value
θ o , current result of calculation will be preserved, and in the follow-up precision for improving angle estimation, can be seen by Fig. 4, and the curve after compensation, compared with primitive curve, improves the smoothness of angle.
Traditional complementary filter method directly allows the data of acceleration transducer and gyrosensor give certain weights respectively, so just effectively cannot avoid the dynamic error of acceleration transducer and the time integral cumulative error of gyrosensor, generally be not enough to obtain accurate angle information, also will carry out offset angle measurement error in conjunction with Kalman filtering.The complementary filter method improved that the present invention proposes, make use of the angle accuracy that acceleration transducer has in static measurement, and the angular acceleration accuracy that gyrosensor has on transient measurement, avoids above problem.Not directly adopt the intermittent angle angle value of acceleration transducer and the angular integral angle value of gyrosensor directly to merge, but the fusion of information is realized by the method that level and smooth and compensation combine, efficiently reduce the dynamic error of acceleration transducer and the time integral cumulative error of gyrosensor.
From the application of reality, algorithm provided by the present invention, when being applied to blind man's stick gyrostabilization unit, have good stability and response speed, and algorithm complex is not high, suppresses obviously noise and drift.As can see from Figure 4, compared with the angle value calculated with traditional complementary filter method, the complementary filter method that the present invention proposes, not only has more smoothness in data, simultaneously under significantly angle situation of change, also there are very fast response speed and accuracy.
The present invention is described by embodiment, but the present invention is not construed as limiting, with reference to description of the invention, other changes of the disclosed embodiments, as the professional person for this area easily expects, such change should belong within the scope of the claims in the present invention restriction.
Claims (5)
1. the gyrostabilization unit for blind man's stick, the attitude transducer that it is characterized in that comprising microcontroller and be connected with microcontroller and motor, wherein said attitude transducer comprises acceleration transducer and gyrosensor, described microcontroller is also connected with range finder module and the wireless module for being connected with mobile terminal signal, and described range finder module is connected with motor, described motor can be steering wheel or brushless electric machine or Servo-controller.
2. a complementary filter method for gyrostabilization unit, the method to be applied to described in claim 1 in the gyrostabilization unit of blind man's stick, it is characterized in that comprising the following steps:
The first step: place acceleration transducer and gyrosensor, build gyrostabilization unit, after pretreatment, obtains the angle of acceleration transducer respectively
θ i with the angular acceleration of gyrosensor
ω i data; Wherein, angle
θ i obtained by three dimensions geometrical relationship, angular acceleration
ω i obtained by sensor acquisition and process;
Second step: the first angle of level and smooth acceleration transducer
θ i , obtain Smoothing angle intermediate quantity
x 1, computing formula is:
In formula,
θ i for this angle value;
θ ' ofor angle output valve after previous correction,
k 1for getting a certain proportion of smoothing weights value;
x 1after computing, be converted into and can characterize fast-changing class angular acceleration amount
x 2, computing formula is:
In formula, Δ
tfor the sampling interval;
x ' 2for previous class angular acceleration amount;
3rd step: the angular acceleration first utilizing gyrosensor
ω i the angle of compensated acceleration sensor, computing formula is:
In formula,
x 3for the angle intermediate quantity of acceleration transducer calculated;
x 2for class angular acceleration;
ω i for the angular acceleration of gyrosensor;
x 1for Smoothing angle intermediate quantity;
k 2for getting a certain proportion of compensation authority weight values;
Then carry out angle estimation, finally obtain this attitude angle
θ o , computing formula is:
In formula, Δ
tfor the sampling interval;
θ ' ifor the angle of Iterative.
3. the complementary filter method of gyrostabilization unit according to claim 2, it is characterized in that in the above-mentioned first step, described acceleration transducer and gyrosensor need parallel placement, so that eliminate the impact of Coordinate Conversion computing, and its inside at gyrostabilization unit can be placed arbitrarily.
4. the complementary filter method of gyrostabilization unit according to claim 2, is characterized in that in above-mentioned second step, described smoothing weights value
k 1span be 0 ~ 1.
5. the complementary filter method of gyrostabilization unit according to claim 2, is characterized in that in above-mentioned 3rd step, described compensation authority weight values
k 2span be 0 ~ 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510049666.0A CN104546391B (en) | 2015-01-31 | 2015-01-31 | Gyro stabilizer for tactile sticks and complementary filtering method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510049666.0A CN104546391B (en) | 2015-01-31 | 2015-01-31 | Gyro stabilizer for tactile sticks and complementary filtering method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104546391A true CN104546391A (en) | 2015-04-29 |
| CN104546391B CN104546391B (en) | 2017-05-17 |
Family
ID=53064188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510049666.0A Active CN104546391B (en) | 2015-01-31 | 2015-01-31 | Gyro stabilizer for tactile sticks and complementary filtering method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104546391B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105651242A (en) * | 2016-04-05 | 2016-06-08 | 清华大学深圳研究生院 | Method for calculating fusion attitude angle based on complementary Kalman filtering algorithm |
| CN107485540A (en) * | 2017-07-18 | 2017-12-19 | 浙江大学城市学院 | A kind of intelligence that is used for assists the energy injection system for walking walking stick |
| CN109583511A (en) * | 2018-12-14 | 2019-04-05 | 北京百度网讯科技有限公司 | Speed fusion method and device |
| CN110974641A (en) * | 2019-12-24 | 2020-04-10 | 中南民族大学 | Intelligent walking stick system integrating machine learning and Internet of things technology for blind people |
| CN112473097A (en) * | 2019-09-11 | 2021-03-12 | Tcl集团股份有限公司 | Mountain climbing assisting method, server, system and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030089389A1 (en) * | 2001-11-15 | 2003-05-15 | Meador Edward L. | Gyscopically balanced walking cane |
| CN102519425A (en) * | 2011-10-24 | 2012-06-27 | 哈尔滨工程大学 | Laser range finder stabilized platform used for vessel with single degree of freedom and its control method |
| CN203519011U (en) * | 2013-10-15 | 2014-04-02 | 顾捷 | Attitude sensor |
| CN103913171A (en) * | 2014-04-28 | 2014-07-09 | 北京理工大学 | Compensation measurement method for rotary speed and rotary angle of carrier based on accelerometer and gyroscope |
| CN104068997A (en) * | 2014-06-30 | 2014-10-01 | 北京信息科技大学 | Multifunctional walking stick for blind |
| CN203898662U (en) * | 2014-04-11 | 2014-10-29 | 上海工程技术大学 | Guide walking stick system for blind person |
-
2015
- 2015-01-31 CN CN201510049666.0A patent/CN104546391B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030089389A1 (en) * | 2001-11-15 | 2003-05-15 | Meador Edward L. | Gyscopically balanced walking cane |
| CN102519425A (en) * | 2011-10-24 | 2012-06-27 | 哈尔滨工程大学 | Laser range finder stabilized platform used for vessel with single degree of freedom and its control method |
| CN203519011U (en) * | 2013-10-15 | 2014-04-02 | 顾捷 | Attitude sensor |
| CN203898662U (en) * | 2014-04-11 | 2014-10-29 | 上海工程技术大学 | Guide walking stick system for blind person |
| CN103913171A (en) * | 2014-04-28 | 2014-07-09 | 北京理工大学 | Compensation measurement method for rotary speed and rotary angle of carrier based on accelerometer and gyroscope |
| CN104068997A (en) * | 2014-06-30 | 2014-10-01 | 北京信息科技大学 | Multifunctional walking stick for blind |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105651242A (en) * | 2016-04-05 | 2016-06-08 | 清华大学深圳研究生院 | Method for calculating fusion attitude angle based on complementary Kalman filtering algorithm |
| CN105651242B (en) * | 2016-04-05 | 2018-08-24 | 清华大学深圳研究生院 | A method of fusion attitude angle is calculated based on complementary Kalman filtering algorithm |
| CN107485540A (en) * | 2017-07-18 | 2017-12-19 | 浙江大学城市学院 | A kind of intelligence that is used for assists the energy injection system for walking walking stick |
| CN107485540B (en) * | 2017-07-18 | 2019-12-13 | 浙江大学城市学院 | Energy injection system for intelligent walking stick |
| CN109583511A (en) * | 2018-12-14 | 2019-04-05 | 北京百度网讯科技有限公司 | Speed fusion method and device |
| CN109583511B (en) * | 2018-12-14 | 2023-06-30 | 北京百度网讯科技有限公司 | Speed fusion method and device |
| CN112473097A (en) * | 2019-09-11 | 2021-03-12 | Tcl集团股份有限公司 | Mountain climbing assisting method, server, system and storage medium |
| CN112473097B (en) * | 2019-09-11 | 2022-04-01 | Tcl科技集团股份有限公司 | Mountain climbing assisting method, server, system and storage medium |
| CN110974641A (en) * | 2019-12-24 | 2020-04-10 | 中南民族大学 | Intelligent walking stick system integrating machine learning and Internet of things technology for blind people |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104546391B (en) | 2017-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108362282B (en) | Inertial pedestrian positioning method based on self-adaptive zero-speed interval adjustment | |
| CN110207697B (en) | Inertial navigation resolving method based on angular accelerometer/gyroscope/accelerometer | |
| JP4170284B2 (en) | Method and system for estimating moving direction of moving object | |
| CN110398245B (en) | Indoor pedestrian navigation attitude estimation method based on foot-worn inertial measurement unit | |
| CN101726295B (en) | Unscented Kalman filter-based method for tracking inertial pose according to acceleration compensation | |
| Cho et al. | A dead reckoning localization system for mobile robots using inertial sensors and wheel revolution encoding | |
| CN107560613B (en) | Robot indoor track tracking system and method based on nine-axis inertial sensor | |
| CN107490378B (en) | Indoor positioning and navigation method based on MPU6050 and smart phone | |
| CN104546391A (en) | Gyro stabilizer for tactile sticks and complementary filtering method thereof | |
| Al Khatib et al. | Multiple sensor fusion for mobile robot localization and navigation using the Extended Kalman Filter | |
| CN110221302B (en) | Environment detection device, correction method and system thereof, portable equipment and storage medium | |
| CN202939489U (en) | Multi-rotor autobalance flight controller | |
| CN108007477B (en) | Inertial pedestrian positioning system error suppression method based on forward and reverse filtering | |
| CN108731676B (en) | Attitude fusion enhanced measurement method and system based on inertial navigation technology | |
| CN106370178B (en) | Attitude measurement method and device of mobile terminal equipment | |
| CN111721288A (en) | Zero offset correction method and device for MEMS device and storage medium | |
| WO2016198933A1 (en) | Determining sensor orientation in indoor navigation | |
| Ayub et al. | Pedestrian direction of movement determination using smartphone | |
| CN105547291B (en) | The adaptive static detection method of indoor occupant freedom positioning system | |
| CN110672095A (en) | Pedestrian indoor autonomous positioning algorithm based on micro inertial navigation | |
| EP3227634B1 (en) | Method and system for estimating relative angle between headings | |
| CN112362057A (en) | Inertial pedestrian navigation algorithm based on zero-speed correction and attitude self-observation | |
| CN106643713B (en) | Estimation method and device for zero-speed correction pedestrian locus for smooth and adaptive adjustment of threshold | |
| CN107888289B (en) | Indoor positioning method and platform based on fusion of visible light communication and inertial sensor | |
| CN112904884B (en) | Method and device for tracking trajectory of foot type robot and readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |