CN106813676A - One kind meter step, localization method and device - Google Patents
One kind meter step, localization method and device Download PDFInfo
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- CN106813676A CN106813676A CN201710092579.2A CN201710092579A CN106813676A CN 106813676 A CN106813676 A CN 106813676A CN 201710092579 A CN201710092579 A CN 201710092579A CN 106813676 A CN106813676 A CN 106813676A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
- G01C22/006—Pedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
A kind of meter step, localization method and device are the embodiment of the invention provides, step-recording method includes：In the detection cycle for pre-setting, it is determined that the second peak value/the second valley of the acceleration of the first peak value/the first valley of the acceleration of advance direction of principal axis and vertical axis；Obtain and occur the first time of occurrence of the first peak value/the first valley every time, and occur the second time of occurrence of the second peak value/the second valley that there is corresponding relation with the first peak value/the first valley every time；Calculate the first difference every time between the first time of occurrence and the second time of occurrence；Record number of times of first difference no more than the first predetermined threshold value；Judge in detection cycle, whether the average value of the acceleration of advance direction of principal axis is more than the second predetermined threshold value；If it does, increasing recorded number of times in current meter step number.Using the embodiment of the present invention, the accuracy of meter step and the accuracy of indoor positioning are improve.
Description
Technical field
The present invention relates to communication technical field, more particularly to a kind of meter step, localization method and device.
Background technology
Inertial navigation (inertial navigation) is according to newton principle of inertia, using in inertial navigation set
Acceleration transducer measures carrier acceleration in itself, and speed and position are obtained by integration and computing, right so as to reach
The purpose of carrier navigator fix, carrier mentioned here can be intelligent communication device, exemplary, intelligent communication device
Can be smart mobile phone, panel computer etc..Inertial navigation set is all arranged in carrier, and extraneous letter is independent of during work
Breath, also not outwardly emittance, is not easily susceptible to interference, is a kind of autonomic navigation system.
It is people's row flight path estimating method that inertial navigation is applied to indoor positioning most common method, and the method is in known pedestrian
Initial position in the case of, according to pedestrian per length and course angle is cut down step by step, judge that pedestrian is expert at position after making a move
Put.In the method by meter step exactly, could correctly be positioned.
Existing conventional step-recording method is to carry out meter step by peakvalue's checking, and specific method is：From acceleration transducer
The acceleration that three axles when pedestrian walks are produced respectively is obtained, three axle mentioned here is respectively X-axis, Y-axis and Z axis, exemplary
, three axle schematic diagrames of smart mobile phone can be as shown in Figure 1.Y-axis is also called advance shaft, and Z axis are also called vertical axis；Detection is vertical
Whether the acceleration peak value of direction of principal axis is more than predetermined threshold value；If it does, adding a step in original counting.But above-mentioned meter step
Method is not accurate enough, for example：During pedestrian's hand-held intelligent terminal, when the attitude of hand-held intelligent terminal changes, may produce
Acceleration, further, it is possible to which the acceleration in vertical axis is more than predetermined threshold value, so that there is the meter step of mistake,
Cause meter step inaccurate, and then influence the accuracy of indoor positioning.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of meter step, localization method and device, the accuracy of step in terms of improving
With the accuracy of indoor positioning.Concrete technical scheme is as follows：
In a first aspect, to reach above-mentioned purpose, the embodiment of the invention discloses a kind of step-recording method, methods described includes：
In the detection cycle for pre-setting, it is determined that the first peak value/the first valley of the acceleration of advance direction of principal axis and hang down
Second peak value/the second valley of the acceleration in d-axis direction；
Obtain every time occur the first peak value/the first valley the first time of occurrence, and every time occur with first peak value/
First valley has the second time of occurrence of the second peak value/the second valley of corresponding relation；Wherein, the corresponding relation is in institute
State in detection cycle, what the order occurred according to the first peak value/the first valley and the second peak value/the second valley determined；
Calculate the first difference every time between the second time of occurrence and the first time of occurrence；
Record number of times of first difference no more than the first predetermined threshold value；
Judge in the detection cycle, whether the average value of the acceleration of advance direction of principal axis is more than the second predetermined threshold value；
If it does, increasing recorded number of times in current meter step number.
Optionally, the detection cycle makes a move the required time not less than predetermined pedestrian's row.
Optionally, it is described in the detection cycle for pre-setting, it is determined that the first peak value/the of the acceleration of advance direction of principal axis
Second peak value/the second valley of the acceleration of one valley and vertical axis, including：
Using predetermined low pass filter, acceleration to the advance direction of principal axis in the detection cycle that pre-sets and
The acceleration of vertical axis is filtered；Wherein, the cut-off frequecy of passband of the low pass filter is not less than predetermined
Maximum cadence when the pedestrian walks；
Determine first peak value/the first valley and filtered vertical axis of the acceleration of filtered advance direction of principal axis
Acceleration the second peak value/the second valley.
Optionally, there is the first time of occurrence of the first peak value/the first valley every time in described acquisition, and occurs every time and institute
Stating the first peak value/the first valley has second time of occurrence of the second peak value/the second valley of corresponding relation, including：
A peak value/valley is selected in the first peak value/the first valley, is defined as target peak/target valley；
Determine the second appearance of first time of occurrence and the 3rd peak value/the 3rd valley of the target peak/target valley
Time, wherein, the 3rd peak value/the 3rd valley is in the second peak value/the second valley, with the target peak/mesh
Mark valley has the peak value/valley of corresponding relation；
From the first peak value/the first valley, selection one is not defined as the peak value/paddy of target peak/target valley
Value, selected peak value/valley is updated to by the target peak/target valley, and return execution determine the target peak/
The step of second time of occurrence of the first time of occurrence of target valley and the 3rd peak value/the 3rd valley, until the first peak value/the
Peak value/valley in one valley is targeted peak value/target valley.
Second aspect, to reach above-mentioned purpose, the embodiment of the invention also discloses a kind of localization method, methods described bag
Include：
In the detection cycle for pre-setting, it is determined that the first peak value/the first valley of the acceleration of advance direction of principal axis and hang down
Second peak value/the second valley of the acceleration in d-axis direction；
Obtain every time occur the first peak value/the first valley the first time of occurrence, and every time occur with first peak value/
First valley has the second time of occurrence of the second peak value/the second valley of corresponding relation；Wherein, the corresponding relation is in institute
State in detection cycle, what the order occurred according to the first peak value/the first valley and the second peak value/the second valley determined；
Calculate the first difference every time between the second time of occurrence and the first time of occurrence；
Record number of times of first difference no more than the first predetermined threshold value；
Judge in the detection cycle, whether the average value of the acceleration of advance direction of principal axis is more than the second predetermined threshold value；
If it does, increasing recorded number of times in current meter step number；
According to the step-length course corresponding with the number of times for being recorded that the current position coordinates of pedestrian, pedestrian's row make a move
Angle, positions the position coordinates after pedestrian's walking one step.
The third aspect, to reach above-mentioned purpose, the embodiment of the invention also discloses a kind of step count set, described device bag
Include：
First determining module, in the detection cycle for pre-setting, it is determined that the first of the acceleration of advance direction of principal axis
Second peak value/the second valley of the acceleration of peak value/the first valley and vertical axis；
First obtains module, occurs the first time of occurrence of the first peak value/the first valley every time for obtaining, and go out every time
Now there is the second time of occurrence of the second peak value/the second valley of corresponding relation with the first peak value/the first valley；Wherein,
The corresponding relation is that in the detection cycle, occurred according to the first peak value/the first valley and the second peak value/the second valley
What order determined；
First computing module, for calculating the first difference every time between the second time of occurrence and the first time of occurrence；
First logging modle, for recording number of times of first difference no more than the first predetermined threshold value；
First judge module, for judging in the detection cycle, whether the average value of the acceleration of advance direction of principal axis
More than the second predetermined threshold value；
First increases module, for being more than in the case of, current in the judged result of first judge module
Increase recorded number of times in meter step number.
Optionally, the detection cycle makes a move the required time not less than predetermined pedestrian's row.
Optionally, first determining module, including：
Filtering submodule, for utilizing predetermined low pass filter, to the advance in the detection cycle that pre-sets
The acceleration of direction of principal axis and the acceleration of vertical axis are filtered；Wherein, the cut-off frequecy of passband of the low pass filter
Maximum cadence when being walked not less than the predetermined pedestrian；
First determination sub-module, the first peak value/the first valley of the acceleration for determining filtered advance direction of principal axis
With the second peak value/the second valley of the acceleration of filtered vertical axis.
Optionally, described first module is obtained, including：
Second determination sub-module, for selecting a peak value/valley in the first peak value/the first valley, is defined as mesh
Mark peak value/target valley；
3rd determination sub-module, for determine first time of occurrence and the 3rd peak value of the target peak/target valley/
Second time of occurrence of the 3rd valley, wherein, the 3rd peak value/the 3rd valley be in the second peak value/the second valley,
With peak value/valley that the target peak/target valley has corresponding relation；
Selection submodule, for from the first peak value/the first valley, selection one not to be defined as target peak/mesh
Peak value/the valley of valley is marked, the target peak/target valley selected peak value/valley is updated to, and return to execution institute
The 3rd determination sub-module is stated, until the peak value/valley in the first peak value/the first valley is targeted peak value/target paddy
Value；
Fourth aspect, to reach above-mentioned purpose, the embodiment of the invention also discloses a kind of positioner, described device bag
Include：
Second determining module, in the detection cycle for pre-setting, it is determined that the first of the acceleration of advance direction of principal axis
Second peak value/the second valley of the acceleration of peak value/the first valley and vertical axis；
Second obtains module, occurs the first time of occurrence of the first peak value/the first valley every time for obtaining, and go out every time
Now there is the second time of occurrence of the second peak value/the second valley of corresponding relation with the first peak value/the first valley；Wherein,
The corresponding relation is that in the detection cycle, occurred according to the first peak value/the first valley and the second peak value/the second valley
What order determined；
Second computing module, for calculating the first difference every time between the second time of occurrence and the first time of occurrence；
Second logging modle, for recording number of times of first difference no more than the first predetermined threshold value；
Second judge module, for judging in the detection cycle, whether the average value of the acceleration of advance direction of principal axis
More than the second predetermined threshold value；
Second increases module, for being more than in the case of, current in the judged result of second judge module
Increase recorded number of times in meter step number；
Locating module, for according to the current position coordinates of pedestrian, pedestrian's row step-length for making a move and being recorded
The corresponding course angle of number of times, positions the position coordinates after pedestrian's walking one step.
A kind of meter step provided in an embodiment of the present invention, localization method and device, by calculate every time the second time of occurrence with
The first difference between first time of occurrence, the first difference of record no more than the first predetermined threshold value number of times, so that it is determined that row
The step number that people walks in detection cycle, further, it is determined that in detection cycle the acceleration of advance direction of principal axis it is average
Value increases recorded number of times more than in the case of the second predetermined threshold value in meter step number, can improve meter step accuracy and
The accuracy of indoor positioning.Certainly, implement any product of the invention or method it is not absolutely required to while reaching the above
All advantages.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is three axle schematic diagrames of smart mobile phone；
A kind of schematic flow sheet of step-recording method that Fig. 2 is carried for the embodiment of the present invention；
Fig. 3 is the curve map that the 3-axis acceleration for obtaining changes with sampled point；
Fig. 4 is the filter window of Butterworth LPF；
Fig. 5 is the curve map that changes with sampled point of acceleration of filtered advance direction of principal axis and vertical axis；
Fig. 6 is the schematic diagram of double-legged alternating movement in a walking period；
Fig. 7 in the process of walking, the curve that the speed of the point A on pedestrian's pin changes over time；
Fig. 8 is the change schematic diagram of the acceleration of vertical axis and the acceleration of advance shaft in the process of walking；
Fig. 9 is the comparison diagram of the acceleration of the acceleration and advance shaft of vertical axis；
Figure 10 is a kind of schematic flow sheet of localization method provided in an embodiment of the present invention；
Figure 11 is a kind of structural representation of step count set provided in an embodiment of the present invention；
Figure 12 is a kind of structural representation of positioner provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
To solve the problems, such as prior art, one kind provided in an embodiment of the present invention counts step, localization method and device, under
Kept man of a noblewoman first illustrates to a kind of step-recording method provided in an embodiment of the present invention.
A kind of schematic flow sheet of step-recording method that Fig. 2 is carried for the embodiment of the present invention, the method includes：
S101：In the detection cycle for pre-setting, it is determined that the first peak value/the first valley of the acceleration of advance direction of principal axis
With the second peak value/the second valley of the acceleration of vertical axis.
In embodiments of the present invention, the acceleration of advance direction of principal axis and the acceleration of vertical axis are by acceleration sensing
Device collection, acceleration transducer may be mounted at the intelligent terminals such as smart mobile phone, intelligent watch, Intelligent bracelet, panel computer.
Specifically, the detection cycle makes a move the required time not less than predetermined pedestrian's row.
In embodiments of the present invention, detection cycle makes a move the required time not less than predetermined pedestrian's row, this
Sample ensure that the peak value/valley of the acceleration in the presence of at least one advance shaft in detection cycle.At least one vertical axis
Acceleration peak value/valley, further, it is ensured that pedestrian can be at least detected in a detection cycle and has walked one
Step.
In actual applications, between 1Hz to 2.4Hz, i.e., pedestrian is in normal walking time step for the cadence that pedestrian normally walks
Frequency is 1-2.4 steps/second, and cadence of the pedestrian when running is no more than 3.5 steps/second.In order to ensure in a detection cycle, pedestrian
At least walk a step, general detection cycle will not set too short, exemplary, detection cycle can be more than or equal to 0.42 second,
Detection cycle is 1 second, 2 seconds etc..While the experience in order to improve user, allows user to know the step number of oneself walking in time, together
When position exactly to obtain, detection cycle typically will not be oversize.Specifically, the specific size of detection cycle can be according to reality
Border situation determines.
It will be appreciated by persons skilled in the art that be analyzed by the acceleration of three axles to pedestrian's walking process,
The acceleration of advance direction of principal axis and the acceleration of vertical axis can be determined in cyclically-varying, and rule when being walked with pedestrian
Rule matches, but the acceleration of X-direction does not have rule, to meter step without king-sized effect.Therefore, in the embodiment of the present invention
In, only determine advance direction of principal axis acceleration the first peak value/the first valley and vertical axis acceleration the second peak value/
Second valley.In practical application, two of the acceleration of advance direction of principal axis and the acceleration of vertical axis can be generally determined
Peak value, is detected with two peak values.It is of course also possible to determine two valleies, detected with two valleies.
First peak value/the first valley mentioned here is the peak value/valley of the acceleration of advance direction of principal axis, the second peak value/
Second valley is the peak value/valley of the acceleration in vertical value direction.In embodiments of the present invention, it is necessary in detection cycle, really
Peak value/the valley of the acceleration of the peak value/valley and vertical axis of the acceleration of fixed each advance direction of principal axis.
Specifically, it is described in the detection cycle for pre-setting, it is determined that the first peak value/the of the acceleration of advance direction of principal axis
Second peak value/the second valley of the acceleration of one valley and vertical axis, including：
Using predetermined low pass filter, acceleration to the advance direction of principal axis in the detection cycle that pre-sets and
The acceleration of vertical axis is filtered；Wherein, the cut-off frequecy of passband of the low pass filter is not less than predetermined
Maximum cadence when the pedestrian walks；
Determine first peak value/the first valley and filtered vertical axis of the acceleration of filtered advance direction of principal axis
Acceleration the second peak value/the second valley.
In detection cycle, substantially there is deviation in the acceleration of advance direction of principal axis and the acceleration of vertical axis of acquisition
The acceleration of normal acceleration range filters this partial filtration acceleration, it is necessary to pass through filtering.Can so avoid what is determined
Second peak value/the second valley of the first peak value/the first valley of the acceleration of advance direction of principal axis or the acceleration of vertical axis
It is inaccurate, in turn result in the inaccurate of meter step.
In embodiments of the present invention, low pass filter can be Butterworth LPF, Chebyshev's LPF
Device etc., maximum cadence when only needing to meet cut-off frequecy of passband not less than predetermined pedestrian walking of low pass filter
.This ensure that useful acceleration information will not be filtered, and then ensure that and will not miss paces number.Low pass filter
Depending on stopband cut-off frequency is needed more than cut-off frequecy of passband, but occurrence can be according to actual conditions.
Exemplary, the curve map changed with sampled point in the 3-axis acceleration for obtaining is as shown in figure 3, specifically, three axles
Acceleration is acceleration transducer collection, and acceleration transducer is that to use frequency be 50Hz.Wherein, curve 201 is vertical axis
The curve that the acceleration in direction changes with sampled point；Curve 202 is the curve that changes with sampled point of acceleration of advance direction of principal axis；
Curve 203 is the curve map that changes with sampled point of acceleration of X-direction.It is 3Hz, stopband cutoff frequency to use cut-off frequecy of passband
Rate is the Butterworth LPF of 10Hz, and the filter window of the Butterworth LPF is as shown in Figure 4.By Bart
Butterworth low pass filter is filtered to the acceleration in Fig. 3, the acceleration of filtered advance direction of principal axis and vertical axis
The curve map changed with sampled point is as shown in Figure 5.Wherein, curve 301 is the acceleration of filtered vertical axis with sampling
The curve of point change；Curve 302 is the curve that changes with sampled point of acceleration of filtered advance direction of principal axis.By Fig. 3 and
Fig. 5 is contrasted, it is known that, the curve that the acceleration of filtered vertical axis changes with sampled point is compared to the curve before filtering more
Plus it is smooth；The acceleration of filtered advance direction of principal axis is also more put down with the curve that sampled point changes compared to the curve before filtering
It is sliding.
S102：Obtain and occur the first time of occurrence of the first peak value/the first valley every time, and occur and described first every time
Peak value/the first valley has the second time of occurrence of the second peak value/the second valley of corresponding relation；Wherein, the corresponding relation
Be in the detection cycle, what the order occurred according to the first peak value/the first valley and the second peak value/the second valley determined.
In embodiments of the present invention, corresponding relation is in detection cycle, according to the first peak value/the first valley and the second peak
What the order that the/the second valley of value occurs determined.Exemplary, in detection cycle, in the first peak value or the first valley for the first time
Peak value/the valley occurred for the first time in the peak value/valley of appearance and the second peak value/the second valley has corresponding relation.
Specifically, obtain occurring the first time of occurrence of the first peak value/the first valley every time, and occur every time and described the
One peak value/the first valley has the second time of occurrence of the second peak value/the second valley of corresponding relation, including：
A peak value/valley is selected in the first peak value/the first valley, is defined as target peak/target valley；
Determine the second appearance of first time of occurrence and the 3rd peak value/the 3rd valley of the target peak/target valley
Time, wherein, the 3rd peak value/the 3rd valley is in the second peak value/the second valley, with the target peak/mesh
Mark valley has the peak value/valley of corresponding relation；
From the first peak value/the first valley, selection one is not defined as the peak value/paddy of target peak/target valley
Value, selected peak value/valley is updated to by the target peak/target valley, and return execution determine the target peak/
The step of second time of occurrence of the first time of occurrence of target valley and the 3rd peak value/the 3rd valley, until the first peak value/the
Peak value/valley in one valley is targeted peak value/target valley.
It will be appreciated by persons skilled in the art that each acceleration correspond to a time, the acceleration is collected
The time of degree is exactly the time of occurrence of the acceleration.Occur the first peak value/the first every time, it is necessary to obtain in embodiments of the present invention
First time of occurrence of valley, and occur the second peak value/the second paddy that there is corresponding relation with the first peak value/the first valley every time
Second time of occurrence of value.Specifically, when can obtain the appearance of peak value in the first peak value/the first valley one by one or valley
Between, at the same obtain the first peak value/the first valley in peak value/valley time of occurrence after, then, obtain the second peak value/
The time of occurrence of the peak value/valley with the peak value/valley with corresponding relation in the second valley.In actual applications, obtain
Occur the first time of occurrence of the first peak value/the first valley every time, can be according to each appearance first for obtaining appearance every time
The corresponding sampled point of peak value/the first valley determines.Exemplary, sample frequency is 50Hz, in detection cycle, advance shaft side
To the corresponding sampled point of second peak value be sampled point 15, then when can determine the appearance of second peak value of advance direction of principal axis
Between beSecond.
S103：Calculate the first difference every time between the second time of occurrence and the first time of occurrence.
In embodiments of the present invention, associated because having between the first peak value/the first valley and the second peak value/the second valley
Relation, the first time of occurrence is the time of occurrence of the first peak value/the first valley, and the second time of occurrence is the second peak value/the second paddy
The time of occurrence of value, can extrapolate the corresponding relation of the first time of occurrence and the second time of occurrence.It is mentioned here to calculate the
The first difference between two time of occurrences and the first time of occurrence, is exactly that the second time of occurrence and second time of occurrence have one by one
There is the first difference between the first time of occurrence of corresponding relation.Understood according to inferring above, if pedestrian is in walking, second goes out
Corresponding first time of occurrence is generally larger than between current, therefore, the first difference mentioned here is subtracted for the second time of occurrence
Difference obtained by first time of occurrence.
S104：Record number of times of first difference no more than the first predetermined threshold value.
During pedestrian walks, double-legged alternating movement, in a walking period, the schematic diagram of double-legged alternating movement
Can be as shown in Figure 6.One walking period is：The batter is heelstrike arrived with the process that lands again in side when walking.One
Individual walking period is divided into support phase (stance phase) and swing phase (swing phase), support phase be pin contact ground and
The time of gravity is born, the 60% of walking period is accounted for.The support phase most of the time is single pin support.Swing phase refers to foot for swing phase
The time taken a step forward with leaving between landing again, account for the 40% of walking period.
In the prior art, also there is the step-recording method based on zero-speed detection principle, the theoretical foundation of zero-speed detection is row
When people normally walks, the pin moment alternately contiguously is the zero-speed moment.Exemplary, Fig. 7 is in the process of walking, on pedestrian's pin
The curve that the speed of one point A changes over time, can obtain from Fig. 7, and the interval between T1 and T2 is exactly the zero-speed moment, i.e.,
Time period corresponding to Δ T is exactly the zero-speed moment.Step-recording method based on zero-speed detection principle is：From the pin for being fixed on pedestrian
Portion, waist or head acceleration sensor obtain acceleration, if the variance yields of acceleration change within a certain period of time, less than pre-
If threshold value, it is determined that the time is the zero-speed moment, Jia 1 in meter step number.This step-recording method is applied to strapdown inertial navigation
System, is not suitable for the situation of hand-held intelligent terminal.Pedestrian's hand-held intelligent terminal when walking, relative to strapdown inertial navigation
Acceleration transducer position in system is fixed, and the position of the acceleration transducer in intelligent terminal is not fixed, the acceleration for obtaining
Degree is uncertain larger, it is difficult to detect the zero-speed moment, causes exactly count step.
Present inventor it has been investigated that, under normal circumstances, pedestrian walk when, the acceleration and advance shaft of vertical axis
Acceleration into periodically change, in the process of walking, the change of the acceleration of vertical axis and the acceleration of advance shaft is illustrated
Figure can with as shown in figure 8, start walking when, the acceleration of vertical axis gradually increases, increase to a certain extent it
After reduce；The acceleration of advance direction of principal axis is also gradually increasing, and reduces after increase to a certain extent.As shown in figure 9, curve 11
It is curve that the acceleration of vertical axis changes with sampled point；Curve 12 is that the acceleration of advance direction of principal axis changes with sampled point
Curve.It can be seen in figure 9 that the acceleration of advance direction of principal axis arrives first peaking, reached after the acceleration of vertical axis
Peak value.The variation tendency of acceleration of this rule with pedestrian during walking matches.In embodiments of the present invention, really
Determine the difference between the acceleration peak value time of occurrence of vertical axis and the acceleration peak value time of occurrence of advance direction of principal axis, when
When the difference is not more than the first predetermined threshold value, the difference corresponding time period is the zero-speed moment.In fig .9, rectangle frame is in transverse axis
On moment be exactly moment that pedestrian's sole completely attaches to ground, that is, zero-speed moment, when rectangle frame is corresponding on transverse axis
Between interval be exactly it is above-mentioned described in the first difference.
In embodiments of the present invention, the first predetermined threshold value can determine according to actual conditions, can count and normally walk
Cheng Zhong, the time of occurrence of the acceleration peak value of vertical axis and the time of occurrence of the acceleration peak value of advance direction of principal axis, calculate
Difference between the time of occurrence of the time of occurrence of the acceleration peak value of vertical axis and the acceleration peak value of advance direction of principal axis,
Determine the first predetermined threshold value, exemplary, the first predetermined threshold value can be 240 milliseconds.
S105：Judge in the detection cycle, whether the average value of the acceleration of advance direction of principal axis is preset more than second
Threshold value.
In embodiments of the present invention, in the case of other conditions identical, within the identical time, the hand-held intelligence of pedestrian is obtained
When energy terminal is moved up and down, the average value of the acceleration of advance direction of principal axis；When acquisition pedestrian marks time, the acceleration of advance direction of principal axis
Average value；When acquisition pedestrian normally walks, the average value of the acceleration of advance direction of principal axis.Carried out by these three average values
Research, it is found that the average value of the acceleration that pedestrian normally walks is not only greater than the acceleration average value marked time, also greater than hand-held intelligence
The average value of acceleration when energy terminal is moved up and down.Therefore, in embodiments of the present invention, the second predetermined threshold value is being less than pedestrian just
The average value of acceleration when often walking, the average value of acceleration when being marked time more than pedestrian, also greater than on hand-held intelligent terminal
The average value of acceleration when lower mobile.Exemplary, the average value of acceleration when hand-held intelligent terminal is moved up and down is
1.16893m/s2, the average value of acceleration when pedestrian marks time is 1.87583m/s2, acceleration when pedestrian normally walks it is flat
Average is 3.01653m/s2, then the second predetermined threshold value can be 3m/s2。
S106：Increase recorded number of times in current meter step number.
Judging in detection cycle, in the case that the average value of the acceleration of advance direction of principal axis is more than the second predetermined threshold value,
Perform S106.It should be noted that increase by 1 step one by one in current meter step number, until be increased in current meter step number being remembered
The number of times of record.In embodiments of the present invention, can avoid because the position of pedestrian is motionless what intelligent terminal change in location caused
Mistake meter is walked, and can effectively identify the walking states of pedestrian, and step is counted exactly, further, because meter step
Accurately, accurate navigation results can also be provided for pedestrian.
Using the embodiment of the present invention, first by calculating every time between the second time of occurrence and the first time of occurrence is poor
Value, the first difference of record no more than the first predetermined threshold value number of times, so that it is determined that the step number that pedestrian walks in detection cycle,
Further, it is determined that the average value of the acceleration of advance direction of principal axis is more than the situation of the second predetermined threshold value in detection cycle
Under, increase recorded number of times in meter step number, so as to improve the accuracy of meter step.
Figure 10 is a kind of schematic flow sheet of localization method provided in an embodiment of the present invention, and the method includes：
S401：In the detection cycle for pre-setting, it is determined that the first peak value/the first valley of the acceleration of advance direction of principal axis
With the second peak value/the second valley of the acceleration of vertical axis.
S402：Obtain and occur the first time of occurrence of the first peak value/the first valley every time, and occur and described first every time
Peak value/the first valley has the second time of occurrence of the second peak value/the second valley of corresponding relation；Wherein, the corresponding relation
Be in the detection cycle, what the order occurred according to the first peak value/the first valley and the second peak value/the second valley determined.
S403：Calculate the first difference every time between the second time of occurrence and the first time of occurrence.
S404：Record number of times of first difference no more than the first predetermined threshold value.
S405：Judge in the detection cycle, whether the average value of the acceleration of advance direction of principal axis is preset more than second
Threshold value；
S406：Increase recorded number of times in current meter step number.
It should be noted that S401-S406 is identical with S101-S106 difference respectively, do not repeated herein.
S407：It is corresponding with the number of times for being recorded according to the step-length that the current position coordinates of pedestrian, pedestrian's row make a move
Course angle, position the pedestrian and walk the position coordinates after a step.
It will be appreciated by persons skilled in the art that the step-length that pedestrian's row makes a move can pre-set, it is also possible to
Distance according to produced by actual pedestrian's row makes a move, it is possible to further the acceleration pair made a move produced by period to row
Time integral, determines the step-length that pedestrian's row makes a move.Certainly, it is not limited in the side of the step-length that above-mentioned determination pedestrian row makes a move
Method, the embodiment of the present invention pair does not determine that the method for the step-length that pedestrian's row makes a move is defined.The current position coordinates of pedestrian
Course angle corresponding with the number of times for being recorded can be determined by method of the prior art, not repeated herein.
In embodiments of the present invention can be by the position after following pedestrian's reckoning formula positions pedestrian's one step of walking
Coordinate：
Ek+1=EK+Sk·sin(ak)
Nk+1=NK+Sk·cos(ak)
Wherein, EKIt is the position coordinates of current pedestrian's east orientation, NKIt is the position coordinates of current pedestrian's north orientation, SkIt is pedestrian's row
The step-length for making a move, akIt is the corresponding course angle of the number of times for a being recorded step therein, Ek+1East orientation after being made a move for pedestrian's row
Position coordinates；Nk+1The position coordinates of the north orientation after being made a move for pedestrian's row.
Using the embodiment of the present invention, first by calculating every time between the second time of occurrence and the first time of occurrence is poor
Value, the first difference of record no more than the first predetermined threshold value number of times, so that it is determined that the step number that pedestrian walks in detection cycle,
Further, it is determined that the average value of the acceleration of advance direction of principal axis is more than the situation of the second predetermined threshold value in detection cycle
Under, increase recorded number of times in meter step number, improve the accuracy of meter step.By counting step exactly, further, improve
The accuracy of indoor positioning.
Figure 11 is a kind of structural representation of step count set provided in an embodiment of the present invention, and the device includes that first determines mould
Block 501, first obtains module 502, the first computing module 503, the first logging modle 504, the first judge module 505 and first and increases
Plus module 506, wherein,
First determining module 501, in the detection cycle for pre-setting, it is determined that the of the acceleration of advance direction of principal axis
Second peak value/the second valley of the acceleration of one peak value/the first valley and vertical axis；
First obtains module 502, occurs the first time of occurrence of the first peak value/the first valley every time for obtaining, and often
Second time of occurrence of secondary the second peak value/the second valley for occurring that there is corresponding relation with the first peak value/the first valley；Its
In, the corresponding relation is in the detection cycle, to be gone out according to the first peak value/the first valley and the second peak value/the second valley
What existing order determined；
First computing module 503, for calculating the first difference every time between the second time of occurrence and the first time of occurrence；
First logging modle 504, for recording number of times of first difference no more than the first predetermined threshold value；
First judge module 505, for judging in the detection cycle, the average value of the acceleration of advance direction of principal axis is
It is no to be more than the second predetermined threshold value；
First increase module 506, for the judged result of first judge module 505 be more than in the case of,
Increase recorded number of times in current meter step number.
Specifically, the detection cycle makes a move the required time not less than predetermined pedestrian's row.
Specifically, first determining module 501, including filtering submodule and the first determination sub-module (are not shown in figure
Go out).
Filtering submodule, for utilizing predetermined low pass filter, to the advance in the detection cycle that pre-sets
The acceleration of direction of principal axis and the acceleration of vertical axis are filtered；Wherein, the cut-off frequecy of passband of the low pass filter
Maximum cadence when being walked not less than the predetermined pedestrian；
First determination sub-module, the first peak value/the first valley of the acceleration for determining filtered advance direction of principal axis
With the second peak value/the second valley of the acceleration of filtered vertical axis.
Specifically, first obtains module 502, including the second determination sub-module, the 3rd determination sub-module and selection submodule
(not shown).
Second determination sub-module, for selecting a peak value/valley in the first peak value/the first valley, is defined as mesh
Mark peak value/target valley；
3rd determination sub-module, for determine first time of occurrence and the 3rd peak value of the target peak/target valley/
Second time of occurrence of the 3rd valley, wherein, the 3rd peak value/the 3rd valley be in the second peak value/the second valley,
With peak value/valley that the target peak/target valley has corresponding relation；
Selection submodule, for from the first peak value/the first valley, selection one not to be defined as target peak/mesh
Peak value/the valley of valley is marked, the target peak/target valley selected peak value/valley is updated to, and return to execution institute
The 3rd determination sub-module is stated, until the peak value/valley in the first peak value/the first valley is targeted peak value/target paddy
Value.
Using the embodiment of the present invention, first by calculating every time between the second time of occurrence and the first time of occurrence is poor
Value, the first difference of record no more than the first predetermined threshold value number of times, so that it is determined that the step number that pedestrian walks in detection cycle,
Further, it is determined that the average value of the acceleration of advance direction of principal axis is more than the situation of the second predetermined threshold value in detection cycle
Under, increase recorded number of times in meter step number, so as to improve the accuracy of meter step.
Figure 12 is a kind of structural representation of positioner provided in an embodiment of the present invention, and the device includes that second determines mould
Block 601, second obtain module 602, the second computing module 603, the second logging modle 604, the second judge module 605 and, second
Increase module 606 and locating module 607, wherein,
Second determining module 601, in the detection cycle for pre-setting, it is determined that the of the acceleration of advance direction of principal axis
Second peak value/the second valley of the acceleration of one peak value/the first valley and vertical axis；
Second obtains module 602, occurs the first time of occurrence of the first peak value/the first valley every time for obtaining, and often
Second time of occurrence of secondary the second peak value/the second valley for occurring that there is corresponding relation with the first peak value/the first valley；Its
In, the corresponding relation is in the detection cycle, to be gone out according to the first peak value/the first valley and the second peak value/the second valley
What existing order determined；
Second computing module 603, for calculating the first difference every time between the second time of occurrence and the first time of occurrence；
Second logging modle 604, for recording number of times of first difference no more than the first predetermined threshold value；
Second judge module 605, for judging in the detection cycle, the average value of the acceleration of advance direction of principal axis is
It is no to be more than the second predetermined threshold value；
Second increase module 606, for the judged result of second judge module 605 be more than in the case of,
Increase recorded number of times in current meter step number；
Locating module 607, for the step-length made a move according to the current position coordinates of pedestrian, pedestrian's row and is recorded
The corresponding course angle of number of times, position the pedestrian and walk the position coordinates after a step.
Using the embodiment of the present invention, first by calculating every time between the second time of occurrence and the first time of occurrence is poor
Value, the first difference of record no more than the first predetermined threshold value number of times, so that it is determined that the step number that pedestrian walks in detection cycle,
Further, it is determined that the average value of the acceleration of advance direction of principal axis is more than the situation of the second predetermined threshold value in detection cycle
Under, increase recorded number of times in meter step number, improve the accuracy of meter step.By counting step exactly, further, improve
The accuracy of indoor positioning.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or deposited between operating
In any this actual relation or order.And, term " including ", "comprising" or its any other variant be intended to
Nonexcludability is included, so that process, method, article or equipment including a series of key elements not only will including those
Element, but also other key elements including being not expressly set out, or also include being this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there is other identical element in process, method, article or equipment including the key element.
Each embodiment in this specification is described by the way of correlation, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.Especially for system reality
Apply for example, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent substitution and improvements made within the spirit and principles in the present invention etc., are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of step-recording method, it is characterised in that methods described includes：
In the detection cycle for pre-setting, it is determined that first peak value/the first valley and vertical axis of the acceleration of advance direction of principal axis
Second peak value/the second valley of the acceleration in direction；
Obtain and occur the first time of occurrence of the first peak value/the first valley every time, and occur and first peak value/the first every time
Valley has the second time of occurrence of the second peak value/the second valley of corresponding relation；Wherein, the corresponding relation is in the inspection
In the survey cycle, what the order occurred according to the first peak value/the first valley and the second peak value/the second valley determined；
Calculate the first difference every time between the second time of occurrence and the first time of occurrence；
Record number of times of first difference no more than the first predetermined threshold value；
Judge in the detection cycle, whether the average value of the acceleration of advance direction of principal axis is more than the second predetermined threshold value；
If it does, increasing recorded number of times in current meter step number.
2. method according to claim 1, it is characterised in that the detection cycle is walked not less than predetermined pedestrian
Time required for one step.
3. method according to claim 1, it is characterised in that described in the detection cycle for pre-setting, it is determined that advancing
Second peak value/the second valley of the first peak value/the first valley of the acceleration of direction of principal axis and the acceleration of vertical axis, bag
Include：
Using predetermined low pass filter, acceleration to the advance direction of principal axis in the detection cycle that pre-sets and vertical
The acceleration of direction of principal axis is filtered；Wherein, the cut-off frequecy of passband of the low pass filter is described not less than predetermined
Maximum cadence when pedestrian walks；
Determine the first peak value/the first valley of the acceleration of filtered advance direction of principal axis and adding for filtered vertical axis
Second peak value/the second valley of speed.
4. the method according to claim any one of 1-3, it is characterised in that the first peak value/the occurs every time in the acquisition
First time of occurrence of one valley, and occur every time with the first peak value/the first valley have the second peak value of corresponding relation/
Second time of occurrence of the second valley, including：
A peak value/valley is selected in the first peak value/the first valley, is defined as target peak/target valley；
Determine the first time of occurrence of the target peak/target valley and the second time of occurrence of the 3rd peak value/the 3rd valley,
Wherein, the 3rd peak value/the 3rd valley is in the second peak value/the second valley, with the target peak/target valley
Peak value/valley with corresponding relation；
From the first peak value/the first valley, selection one is not defined as the peak value/valley of target peak/target valley, will
The target peak/target valley is updated to selected peak value/valley, and returns to the execution determination target peak/target
The step of second time of occurrence of the first time of occurrence of valley and the 3rd peak value/the 3rd valley, until the first peak value/the first paddy
Peak value/valley in value is targeted peak value/target valley.
5. a kind of localization method, it is characterised in that methods described includes：
In the detection cycle for pre-setting, it is determined that first peak value/the first valley and vertical axis of the acceleration of advance direction of principal axis
Second peak value/the second valley of the acceleration in direction；
Obtain and occur the first time of occurrence of the first peak value/the first valley every time, and occur and first peak value/the first every time
Valley has the second time of occurrence of the second peak value/the second valley of corresponding relation；Wherein, the corresponding relation is in the inspection
In the survey cycle, what the order occurred according to the first peak value/the first valley and the second peak value/the second valley determined；
Calculate the first difference every time between the second time of occurrence and the first time of occurrence；
Record number of times of first difference no more than the first predetermined threshold value；
Judge in the detection cycle, whether the average value of the acceleration of advance direction of principal axis is more than the second predetermined threshold value；
If it does, increasing recorded number of times in current meter step number；
According to the step-length course angle corresponding with the number of times for being recorded that the current position coordinates of pedestrian, pedestrian's row make a move,
Position the position coordinates after pedestrian's walking one step.
6. a kind of step count set, it is characterised in that described device includes：
First determining module, in the detection cycle for pre-setting, it is determined that the first peak value of the acceleration of advance direction of principal axis/
Second peak value/the second valley of the acceleration of the first valley and vertical axis；
First obtain module, for obtain every time occur the first peak value/the first valley the first time of occurrence, and every time occur with
First peak value/the first valley has the second time of occurrence of the second peak value/the second valley of corresponding relation；Wherein, it is described
Corresponding relation is in the detection cycle, according to the order that the first peak value/the first valley and the second peak value/the second valley occur
Determine；
First computing module, for calculating the first difference every time between the second time of occurrence and the first time of occurrence；
First logging modle, for recording number of times of first difference no more than the first predetermined threshold value；
First judge module, for judging in the detection cycle, whether the average value of the acceleration of advance direction of principal axis is more than
Second predetermined threshold value；
First increases module, for being more than in the case of, to be walked in current meter in the judged result of first judge module
Increase recorded number of times on number.
7. device according to claim 6, it is characterised in that the detection cycle is walked not less than predetermined pedestrian
Time required for one step.
8. device according to claim 6, it is characterised in that first determining module, including：
Filtering submodule, for utilizing predetermined low pass filter, to the advance shaft side in the detection cycle that pre-sets
To acceleration and the acceleration of vertical axis be filtered；Wherein, the cut-off frequecy of passband of the low pass filter is not small
Maximum cadence when the predetermined pedestrian walks；
First determination sub-module, the first peak value/the first valley and filter for determining the acceleration of filtered advance direction of principal axis
Second peak value/the second valley of the acceleration of the vertical axis after ripple.
9. the device according to claim any one of 6-8, it is characterised in that described first obtains module, including：
Second determination sub-module, for selecting a peak value/valley in the first peak value/the first valley, is defined as target peak
Value/target valley；
3rd determination sub-module, the first time of occurrence and the 3rd peak value/3rd for determining the target peak/target valley
Second time of occurrence of valley, wherein, the 3rd peak value/the 3rd valley is in the second peak value/the second valley, with institute
Stating target peak/target valley has the peak value/valley of corresponding relation；
Selection submodule, for from the first peak value/the first valley, selection one not to be defined as target peak/target paddy
Peak value/the valley of value, selected peak value/valley is updated to by the target peak/target valley, and returns to execution described the
Three determination sub-modules the, until peak value/valley in the first peak value/the first valley is targeted peak value/target valley.
10. a kind of positioner, it is characterised in that described device includes：
Second determining module, in the detection cycle for pre-setting, it is determined that the first peak value of the acceleration of advance direction of principal axis/
Second peak value/the second valley of the acceleration of the first valley and vertical axis；
Second obtain module, for obtain every time occur the first peak value/the first valley the first time of occurrence, and every time occur with
First peak value/the first valley has the second time of occurrence of the second peak value/the second valley of corresponding relation；Wherein, it is described
Corresponding relation is in the detection cycle, according to the order that the first peak value/the first valley and the second peak value/the second valley occur
Determine；
Second computing module, for calculating the first difference every time between the second time of occurrence and the first time of occurrence；
Second logging modle, for recording number of times of first difference no more than the first predetermined threshold value；
Second judge module, for judging in the detection cycle, whether the average value of the acceleration of advance direction of principal axis is more than
Second predetermined threshold value；
Second increases module, for being more than in the case of, to be walked in current meter in the judged result of second judge module
Increase recorded number of times on number；
Locating module, for according to the current position coordinates of pedestrian, pedestrian's row step-length for making a move and the number of times for being recorded
Corresponding course angle, positions the position coordinates after pedestrian's walking one step.
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