CN108426573A - A kind of the pedestrian's gait detection method and terminal device of terminal device - Google Patents
A kind of the pedestrian's gait detection method and terminal device of terminal device Download PDFInfo
- Publication number
- CN108426573A CN108426573A CN201710078777.3A CN201710078777A CN108426573A CN 108426573 A CN108426573 A CN 108426573A CN 201710078777 A CN201710078777 A CN 201710078777A CN 108426573 A CN108426573 A CN 108426573A
- Authority
- CN
- China
- Prior art keywords
- terminal device
- acceleration
- magnetic field
- field intensity
- angular speed
- 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
Classifications
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
-
- 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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Navigation (AREA)
Abstract
The present invention provides a kind of pedestrian's gait detection method of terminal device and terminal device, this method include：Obtain attitude angle of the terminal device relative to earth coordinates；Obtain the carrying mode of terminal device；If the carrying mode of terminal device is pattern of swinging one's arm, pedestrian's gait event is detected by attitude angle, passes through the gait event of the variation detection pedestrian of attitude angle, it can ensure that gait detection algorithm error when swinging one's arm situation is smaller, can normal use, operating process is simple, it is easy to accomplish.
Description
Technical field
The present invention relates to pedestrian's field of locating technology, more particularly to pedestrian's gait detection method of a kind of terminal device and end
End equipment.
Background technology
With the development of location technology, people are to being based on location-based service (LBS, Location Based Services)
Demand is growing day by day.In outdoor environment, Global Satellite Navigation System (GNSS, Global Navigation Satellite
System extensive use) meets people in outdoor navigation and location requirement.However, environment or having building indoors
In the environment blocked, decaying and multipath effect are generated since satellite-signal is blocked, the precision of satellite positioning can be caused to deteriorate,
It can not even use.Therefore, realize that indoor accurate positioning and navigation are needed by other location technologies.And existing smart mobile phone
And other mobile terminals be continuously improved calculating and sensor capability promote application of the emerging technology in the personal fields LBS and push away
Extensively.
In numerous location technologies, pedestrian's dead reckoning (PDR, Pedestrian Dead Reckoning) is a kind of normal
Indoor positioning technologies.Compared with other indoor orientation methods, this method cost is relatively low, need not lay additional base station and set
Apply, it is only necessary to using mobile terminal self-contained sensor acquisition body motion information and directional information can be realized autonomous positioning and
Navigation.
The cardinal principle of this method is to acquire the information such as acceleration, angular speed and magnetic field intensity by self-contained sensor,
And then the direction of travel of pedestrian is extrapolated, in conjunction with gait detection and step-size estimation, the direction of travel and step-length of pedestrian are extrapolated,
The current location of pedestrian is calculated from prior location.Wherein, gait detection is the core of PDR technologies, because gait event is to drive
The key of dynamic pedestrian position update and material calculation.Gait detection will definitely not lead to that error occurs in step-size estimation and PDR can not
Update position.
It is that the acceleration information acquired to mobile terminal is handled that gait, which detects common method, such as uses different length
Sliding window the amplitude of acceleration information is handled and is detected, using pedestrian walk generate acceleration regularity walk
State detects.Under normal conditions, this method can obtain relatively good gait detection result.But since this method needs user to protect
It is opposing stationary with user to hold mobile terminal, and if user constantly changes terminal location (such as hand held pendulum in position fixing process
Start arm), cause the acceleration signal that state changes that can then influence the judgement of this kind of gait detection algorithm at this time, to generate compared with
There is the case where flase drop or missing inspection in big error.
Invention content
In view of this, the embodiment of the present invention provides a kind of the pedestrian's gait detection method and terminal device of terminal device, solution
The problem of certainly gait detection method is when the position of terminal device constantly changes, and error is larger or even is unable to normal use.
To solve the above problems, the first aspect of the embodiment of the present invention provides a kind of pedestrian's gait detection side of terminal device
Method includes the following steps：
Obtain attitude angle of the terminal device relative to earth coordinates；
Obtain the carrying mode of terminal device；
If the carrying mode of terminal device is pattern of swinging one's arm, pedestrian's gait event is detected by attitude angle.
Optionally, attitude angle of the terminal device relative to earth coordinates is obtained, including：
Obtain acceleration, angular speed and the earth magnetic field intensity in pre-set co-ordinate corresponding with terminal device system；
According to acceleration, angular speed and earth magnetic field intensity, attitude angle of the computing terminal equipment relative to earth coordinates.
Optionally, acceleration, angular speed and the earth magnetic field intensity in pre-set co-ordinate corresponding with terminal device system are obtained,
Including：
Acceleration is obtained by the accelerometer of terminal device, angular speed is obtained by the gyroscope of terminal device, is passed through
The magnetometer of terminal device obtains earth magnetic field intensity；
If the sample frequency of acceleration, angular speed and earth magnetic field intensity is inconsistent, to acceleration, angular speed and earth magnetic
Field intensity carries out pre-determined number spline interpolation；
Low-pass filtering is carried out to acceleration, angular speed and earth magnetic field intensity.
Optionally, according to acceleration, angular speed and earth magnetic field intensity, computing terminal equipment is relative to earth coordinates
Attitude angle, including：
If earth magnetic field intensity is less than the first preset value, acceleration, angular speed and earth magnetic field intensity are brought into posture boat
To frame of reference；
If earth magnetic field intensity is greater than or equal to the first preset value, acceleration, angular speed are brought into posture course referential
System；
Attitude angle is exported from posture heading reference system.
Optionally, the carrying mode of terminal device is obtained, including：
Acquire the acceleration and velocity information of terminal device in the first preset time；
Weight component and linear acceleration components are obtained from acceleration information；
The selected characteristic value from the weight component of acceleration, linear acceleration components and speed；
The sensor information for obtaining terminal device determines the type of carrying mode, wherein classification gauge according to classifying rules
It is then to be determined according to the numerical distribution characteristic of different carrying mode lower eigenvalues.
Optionally, the gait event of pedestrian is detected by attitude angle, including：
To the attitude angle low-pass filtering of acquisition, the pitch angle in the multiple attitude angles stored in the second preset time of extraction；
If there are extreme value in multiple pitch angles of extraction, the minimum in multiple pitch angles be less than the second preset value and/or
Maximum in multiple pitch angles is more than third preset value, is determined as gait event.
The second aspect of the embodiment of the present invention provides a kind of terminal device, is suitable for above-mentioned pedestrian's gait detection method, packet
It includes：
Attitude angle acquisition module：For obtaining attitude angle of the terminal device relative to earth coordinates；
Carrying mode acquisition module：Carrying mode for obtaining terminal device；
Detection module：If the carrying mode for terminal device is pattern of swinging one's arm, pedestrian's gait thing is detected by attitude angle
Part.
Optionally, attitude angle acquisition module includes：
Information acquisition unit：For obtaining acceleration, angular speed and ground in pre-set co-ordinate corresponding with terminal device system
Signal magnetic field intensity；
Attitude angle computing unit：For according to acceleration, angular speed and earth magnetic field intensity, computing terminal equipment relative to
The attitude angle of earth coordinates；
Wherein, information acquisition unit includes：
First obtains subelement：For obtaining acceleration by the accelerometer of terminal device, pass through the top of terminal device
Spiral shell instrument obtains angular speed, and earth magnetic field intensity is obtained by the magnetometer of terminal device；
First processing subelement：If the sample frequency for acceleration, angular speed and earth magnetic field intensity is inconsistent, pair plus
Speed, angular speed and earth magnetic field intensity carry out pre-determined number spline interpolation；
Second processing subelement：For carrying out low-pass filtering to acceleration, angular speed and earth magnetic field intensity；
Attitude angle computing unit includes：
First computation subunit：If being less than the first preset value for earth magnetic field intensity, by acceleration, angular speed and the earth
Magnetic field intensity brings posture heading reference system into；
Second computation subunit：If being greater than or equal to the first preset value for earth magnetic field intensity, by acceleration, angular speed
Bring posture heading reference system into；
Export subelement：For exporting attitude angle from posture heading reference system.
Optionally, carrying mode acquisition module includes：
Reference unit：Acceleration and velocity information for acquiring terminal device in the first preset time；
Acquiring unit：For obtaining weight component and linear acceleration components from acceleration information；
Assignment unit：For the selected characteristic value from the weight component of acceleration, linear acceleration components and speed；
Determination unit：Sensor information for obtaining terminal device determines carrying mode according to classifying rules, wherein
Classifying rules is determined according to the numerical distribution characteristic of different carrying mode lower eigenvalues.
Optionally, detection module includes：
Extraction unit：To the attitude angle low-pass filtering of acquisition, in the multiple attitude angles stored in the second preset time of extraction
Pitch angle；
Judging unit：If multiple pitch angles for extraction, there are extreme value, the minimum in multiple pitch angles is less than second
Maximum in preset value and/or multiple pitch angles is more than third preset value, is determined as gait event.
The embodiment of the present invention is by obtaining terminal device relative to the attitude angle of earth coordinates and the carrying of terminal device
Mode detects pedestrian's gait event if the carrying mode of terminal device is pattern of swinging one's arm by attitude angle, can ensure that gait is examined
Method of determining and calculating error when swinging one's arm situation is smaller, can normal use, operating process is simple, it is easy to accomplish.
Description of the drawings
Fig. 1 is a kind of flow chart of pedestrian's gait detection method of the specific embodiment of the invention；
Fig. 2 is another flow chart of pedestrian's gait detection method of the specific embodiment of the invention；
Fig. 3 is another flow chart of pedestrian's gait detection method of the specific embodiment of the invention；
Fig. 4 is another flow chart of pedestrian's gait detection method of the specific embodiment of the invention；
Fig. 5 is another flow chart of pedestrian's gait detection method of the specific embodiment of the invention；
Fig. 6 be the specific embodiment of the invention pre-set co-ordinate system in X-axis acceleration of gravity absolute value mean value in difference
Datagram under carrying mode, the abscissa in figure represent different carrying modes, distinguish from 0 to 12：Static, short message mode row
It walks, telephony mode walking, pocket pattern walking, get rid of the walking of arm pattern, short message mode running, telephony mode running, pocket pattern
Run, get rid of arm pattern run, go upstairs, going downstairs, ascending for elevator and elevator downlink；
Fig. 7 be the specific embodiment of the invention pre-set co-ordinate system in Y-axis acceleration of gravity absolute value mean value in difference
Datagram under carrying mode；
Fig. 8 be the specific embodiment of the invention pre-set co-ordinate system in Z axis acceleration of gravity absolute value mean value in difference
Datagram under carrying mode；
Fig. 9 is data of the mean value of the linear acceleration absolute value of the specific embodiment of the invention under different carrying modes
Figure；
Figure 10 be the specific embodiment of the invention pre-set co-ordinate system in X-axis angular speed absolute value mean value in different carryings
Datagram under mode；
Figure 11 be the specific embodiment of the invention pre-set co-ordinate system in Y-axis angular speed absolute value mean value in different carryings
Datagram under mode；
Figure 12 be the specific embodiment of the invention pre-set co-ordinate system in Z axis angular speed absolute value mean value in different carryings
Datagram under mode；
Figure 13 be the specific embodiment of the invention pre-set co-ordinate system in Z axis linear acceleration variance in different carrying modes
Under datagram；
Figure 14 is another flow chart of pedestrian's gait detection method of the specific embodiment of the invention；
Figure 15 passes through a closed path close to rectangle for terminal device under the pattern of swinging one's arm of the specific embodiment of the invention
Pitching angular curve；
Figure 16 is the structural schematic diagram of the terminal device of the specific embodiment of the invention.
Specific implementation mode
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
First embodiment
Referring to Fig. 1, a kind of flow chart of pedestrian's gait detection method of terminal device, including following step are shown in figure
Suddenly：
S101, attitude angle of the terminal device relative to earth coordinates is obtained.
Above-mentioned earth coordinates (Geodetic Coordinate System) refer in geodesic survey, with reference ellipsoid
The coordinate system that face is set up on the basis of face, three coordinate components of earth coordinates are respectively geodetic longitude, geodetic latitude and big
Ground is high.
Above-mentioned attitude angle may include in roll angle (roll), pitch angle (pitch) and the yaw angle (yaw) of terminal device
It is one or more, wherein pitch angle is the angle around the rotation of pre-set co-ordinate system Y-axis.
S102, the carrying mode for obtaining terminal device.
The carrying mode of terminal device includes pattern of swinging one's arm and other patterns, other patterns refer to the mould in addition to the pattern of swinging one's arm
Formula is referred to as.
The pattern of swinging one's arm refers to that terminal device is swung, such as terminal device is in the hand with arms swing, terminal device phase
Position (such as relative to human body) generating period is changed, the attitude angle of terminal device also changes therewith, such as with arm
It swings and changes.
In the present embodiment, the carrying mode of terminal device can be realized by the related algorithm of pattern-recognition, can also be led to
It crosses and is judged based on other obvious behavioral characteristics, so the decision procedure to carrying mode is not specifically limited.
If the carrying mode of S103, terminal device is pattern of swinging one's arm, pedestrian's gait event is detected by attitude angle.
When the carrying mode of terminal device is to swing one's arm pattern, the posture of terminal device will produce periodic variation, reason
Wanting is approximately pendulum clock movement, using this periodic rule, can be changed the attitude angle of terminal device and practical object
The walking of reason movement is mapped, to realize that gait detects.
In conclusion the present embodiment is by obtaining attitude angle and terminal device of the terminal device relative to earth coordinates
Carrying mode detects the gait event of pedestrian by attitude angle when carrying mode is to swing one's arm pattern, can ensure that gait detects
Algorithm error when swinging one's arm situation is smaller, being capable of normal use.
Second embodiment
Referring to Fig. 2, another flow chart of pedestrian's gait detection method of terminal device, including following step are shown in figure
Suddenly：
Acceleration, angular speed and earth magnetic field intensity in S201, acquisition pre-set co-ordinate corresponding with terminal device system；
The present embodiment can obtain preset seat respectively by accelerometer, gyroscope and the magnetometer that terminal device carries
Acceleration, angular speed and earth magnetic field intensity in mark system, above-mentioned pre-set co-ordinate system refers to carrier coordinate system, i.e. terminal device sheet
The coordinate system of body.
S202, according to acceleration, angular speed and earth magnetic field intensity, appearance of the computing terminal equipment relative to earth coordinates
State angle.
It, can be strong according to acceleration, angular speed and earth magnetic field using posture heading reference system AHRS in the present embodiment
Degree obtains the attitude angle of terminal device coordinate system relative to the earth.The system includes multiple axial sensors, can terminal device carry
For posture information, for example, the posture information includes one or more in roll angle, pitch angle and course angle.
Obtaining attitude angle using posture heading reference system is asked by gradient descent algorithm according to quaternion differential equation
The optimal solution of Xie Dangqianzitaijiao, the four-dimensional supercomplex that quaternary number is made of three imaginary numbers on a real add, can be with table
Show the rotation of terminal device in space, the i.e. posture under earth coordinates.
S203, the carrying mode for obtaining terminal device.
The carrying mode of the terminal device includes pattern of swinging one's arm and other patterns, other patterns refer in addition to the pattern of swinging one's arm
Pattern be referred to as.
The pattern of swinging one's arm refers to that terminal device is swung, for example, terminal device in the hand of carrier with the arm of carrier
It swings, terminal device relative position (such as relative to human body) generating period variation, the attitude angle of terminal device also becomes therewith
Change, such as changes with the swing of arm.
In the present embodiment, the carrying mode of terminal device can be realized by the related algorithm of pattern-recognition, can also be led to
It crosses and is judged based on other obvious behavioral characteristics, so the decision procedure to carrying mode is not specifically limited.
If the carrying mode of S204, terminal device is pattern of swinging one's arm, pedestrian's gait event is detected by attitude angle.
When the carrying mode of terminal device is to swing one's arm pattern, the posture of terminal device will produce periodic variation, reason
Wanting is approximately pendulum clock movement, using this periodic rule, can be changed the attitude angle of terminal device and practical object
The walking of reason movement is mapped, to realize that gait detects.
In conclusion the present embodiment is obtained greatly by obtaining acceleration, angular speed and the earth magnetic field intensity of terminal device
The attitude angle of ground coordinate system, and the carrying mode of terminal device is obtained, when carrying mode is to swing one's arm pattern, pass through attitude angle
The gait event for detecting pedestrian, can ensure that gait detection algorithm error when swinging one's arm situation is smaller, being capable of normal use.
3rd embodiment
Referring to Fig. 3, another flow chart of pedestrian's gait detection method of terminal device, including following step are shown in figure
Suddenly：
S301, acceleration is obtained by the accelerometer of terminal device, angular speed is obtained by the gyroscope of terminal device,
Earth magnetic field intensity is obtained by the magnetometer of terminal device.
Above-mentioned pre-set co-ordinate system refers to carrier coordinate system, i.e. the coordinate system of terminal device itself.Specifically, terminal device
(such as mobile terminal) can be controlled by software, such as pass through the acceleration built in terminal device by opening software
Meter, gyroscope and magnetometer obtain acceleration, angular speed and earth magnetic field intensity respectively.
Above-mentioned software can be the software of detectable user's walking event, in use, can carry end after software is opened
Arm is swung naturally in end equipment walking process, software records acceleration, angular speed and earth magnetic field intensity data.
Further, it is obtained respectively by accelerometer, gyroscope and magnetometer in terminal device and is located at pre-set co-ordinate system
Acceleration, angular speed and the earth magnetic field intensity of middle corresponding X, Y, Z axis obtain acceleration, angular speed and earth magnetic field respectively
Acceleration, angular speed and earth magnetic field intensity of the intensity relative to tri- axis directions of X, Y, Z of pre-set co-ordinate system.
S302, judge whether the sample frequency of acceleration, angular speed and earth magnetic field intensity is consistent, if it is not, entering step
Rapid S303；Otherwise, it is directly entered step S304.
S303, acceleration, angular speed and earth magnetic field intensity carry out pre-determined number spline interpolation.
It is right if sample frequency is inconsistent when acceleration, angular speed and earth magnetic field intensity calculate separately sample frequency
The lower data of frequency use pre-determined number spline interpolation, such as cubic spline interpolation, to keep the data frequency one of sensor
It causes, after this step process, enters step S304.
S304, low-pass filtering is carried out to acceleration, angular speed and earth magnetic field intensity.
Acceleration, angular speed and the earth magnetic field intensity signal that frequency is consistent after processing or frequency is consistent carry out low pass filtered
Wave filters out high-frequency interference signal, obtains stablizing data use.
Above-mentioned low-pass filtering (Low-pass filter) low frequency signal can be normal through, and more than the height of setting critical value
Frequency signal is then blocked, weakens, also referred to as high frequency removal filtering (High-cut filter).
S305, according to acceleration, angular speed and earth magnetic field intensity, appearance of the computing terminal equipment relative to earth coordinates
State angle.
It, can be strong according to acceleration, angular speed and earth magnetic field using posture heading reference system AHRS in the present embodiment
Degree obtains the attitude angle of terminal device coordinate system relative to the earth.The system includes multiple axial sensors, can be terminal device
Posture information is provided.
Obtaining attitude angle using posture heading reference system is asked by gradient descent algorithm according to quaternion differential equation
The optimal solution of Xie Dangqianzitaijiao, the four-dimensional supercomplex that quaternary number is made of three imaginary numbers on a real add, can be with table
Show the rotation of terminal device in space, the i.e. posture under earth coordinates.
S306, the carrying mode for obtaining terminal device.
The carrying mode of terminal device includes pattern of swinging one's arm and other patterns, other patterns refer to the mould in addition to the pattern of swinging one's arm
Formula is referred to as.
The pattern of swinging one's arm refers to that terminal device is swung, such as terminal device is put in carrier's hand with carrier's arm
Dynamic, terminal device relative position (such as relative to human body) generating period variation, the attitude angle of terminal device also changes therewith,
Such as change with the swing of arm.
In the present embodiment, the carrying mode of terminal device can be realized by the related algorithm of pattern-recognition, can also be led to
It crosses and is judged based on other obvious behavioral characteristics, so the decision procedure to carrying mode is not specifically limited.
If the carrying mode of S307, terminal device is pattern of swinging one's arm, the gait event of pedestrian is detected by attitude angle.
When the carrying mode of terminal device is to swing one's arm pattern, the posture of terminal device will produce periodic variation, reason
Wanting is approximately pendulum clock movement, using this periodic rule, can be changed the attitude angle of terminal device and practical object
The walking of reason movement is mapped, to realize that gait detects.
In conclusion the present embodiment is being ensured by acceleration, angular speed and the earth magnetic field intensity of acquisition terminal device
The attitude angle of earth coordinates is obtained on the basis of sample frequency is consistent, and obtains the carrying mode of terminal device, works as carrying
Mode is when swinging one's arm pattern, the gait event of pedestrian to be detected by attitude angle, gait detection algorithm can be ensured in situation of swinging one's arm
When error it is smaller, being capable of normal use.
Fourth embodiment
Referring to Fig. 4, another flow chart of pedestrian's gait detection method of terminal device, including following step are shown in figure
Suddenly：
Acceleration, angular speed and earth magnetic field intensity in S401, acquisition pre-set co-ordinate corresponding with terminal device system.
The present embodiment can obtain preset seat respectively by accelerometer, gyroscope and the magnetometer that terminal device carries
Acceleration, angular speed and earth magnetic field intensity in mark system, above-mentioned pre-set co-ordinate system refers to carrier coordinate system, i.e. terminal device sheet
The coordinate system of body.
S402, judge whether earth magnetic field intensity is less than the first preset value, if so, entering step S403；Otherwise, into step
Rapid S404.
In the present embodiment, by judging the relationship of earth magnetic field intensity and the first preset value (i.e. predetermined threshold value), it can obtain
The case where being interfered to terminal device by magnetic field.
S403, acceleration, angular speed and earth magnetic field intensity are brought into posture heading reference system.
Obtaining attitude angle using posture heading reference system is asked by gradient descent algorithm according to quaternion differential equation
The optimal solution of Xie Dangqianzitaijiao, the four-dimensional supercomplex that quaternary number is made of three imaginary numbers on a real add, can be with table
Show the rotation of terminal device in space, the i.e. posture under earth coordinates：
Q=(q0, q1, q2, q3)
Wherein, q0Indicate the amplitude of rotation, q1, q2, q3Indicate the rotary shaft of rotation.The method for indicating posture with quaternary number
Computational efficiency is high, is also convenient for interpolation.
Posture heading reference system includes both of which：Include the nine Axle mould formulas and packet of acceleration, angular speed, magnetic field intensity
The six Axle mould formulas containing acceleration, angular speed.Because acceleration, angular speed and magnetic field intensity are trivector, therefore according to use
Sensing data to pattern name.
In this step, earth magnetic field intensity is less than predetermined threshold value, then shows that terminal device is in the smaller ground of magnetic interference
Side is suitable for using nine Axle mould formulas at this time.This mode makes the attitude angle acquired smaller by magnetic interference, more accurately.
S404, acceleration, angular speed are brought into posture heading reference system.
In this step, earth magnetic field intensity is greater than or equal to the first preset value (predetermined threshold value), then illustrates at terminal device
In the bigger place of magnetic interference, true earth magnetic field intensity is difficult to obtain, and is suitable for using six Axle mould formulas at this time, but need
Initial attitude angle is determined with nine Axle mould formulas.
S405, attitude angle is obtained from posture heading reference system.
In the present embodiment, six Axle mould formulas or nine axis using posture heading reference system are selected by earth magnetic field intensity
Pattern determines required attitude angle.
S406, the carrying mode for obtaining terminal device.
The carrying mode of terminal device includes pattern of swinging one's arm and other patterns, other patterns refer to the mould in addition to the pattern of swinging one's arm
Formula is referred to as.
The pattern of swinging one's arm refer to terminal device in carrier's hand with carrier's arms swing, terminal device relative position (example
Such as relative to human body) generating period variation, the attitude angle of terminal device also changes therewith.
In the present embodiment, the carrying mode of terminal device can be realized by the related algorithm of pattern-recognition, can also be led to
It crosses and is judged based on other obvious behavioral characteristics, so the decision procedure to carrying mode is not specifically limited.
If the carrying mode of S407, terminal device is pattern of swinging one's arm, the gait event of pedestrian is detected by attitude angle.
When the carrying mode of terminal device is to swing one's arm pattern, the posture of terminal device will produce periodic variation, reason
Wanting is approximately pendulum clock movement, using this periodic rule, can be changed the attitude angle of terminal device and practical object
The walking of reason movement is mapped, to realize that gait detects.
It should be noted that the terminal device of the present embodiment meaning can be it is any have measure acceleration, angular speed and
The mobile device of earth magnetic field intensity function, naturally it is also possible to carry the terminal for any can in real time be obtained by communication mode
The mobile device of the pedestrian of equipment or the current acceleration of the terminal device, angular speed and earth magnetic field intensity.
In conclusion the present embodiment obtains the acceleration of terminal device, angular speed, earth magnetic field intensity and terminal device
Carrying mode, and different posture heading reference system mode computation attitude angles are used according to the disturbed condition in magnetic field, when carrying side
Formula is when swinging one's arm pattern, the gait event of pedestrian to be detected by attitude angle, gait detection algorithm can be ensured when swinging one's arm situation
Error is smaller, ensures algorithm normal use.
5th embodiment
Acceleration, angular speed and earth magnetic field intensity in S501, acquisition pre-set co-ordinate corresponding with terminal device system.
The present embodiment can obtain preset seat respectively by accelerometer, gyroscope and the magnetometer that terminal device carries
Acceleration, angular speed and earth magnetic field intensity in mark system, above-mentioned pre-set co-ordinate system refers to carrier coordinate system, i.e. terminal device sheet
The coordinate system of body.
S502, according to acceleration, angular speed and earth magnetic field intensity, appearance of the computing terminal equipment relative to earth coordinates
State angle.
In the present embodiment, it can be obtained according to acceleration, angular speed and earth magnetic field intensity using posture heading reference system
Terminal device coordinate system relative to the earth attitude angle.The system includes multiple axial sensors, can be that carrier, that is, terminal is set
It is standby that posture information is provided, such as can provide one or more in roll angle, pitch angle and course angle.
Obtaining attitude angle using posture heading reference system is asked by gradient descent algorithm according to quaternion differential equation
The optimal solution of Xie Dangqianzitaijiao, the four-dimensional supercomplex that quaternary number is made of three imaginary numbers on a real add, can be with table
Show the rotation of terminal device in space.
In the present embodiment, specifically need to use pitch angle, pitch angle to be the angle around the Y-axis rotation of pre-set co-ordinate system,
Do gait detection using the angle is not influenced by pedestrian's walking direction, and has higher stability.
S503, the carrying mode for obtaining terminal device.
In the present embodiment, the carrying mode of terminal device includes pattern of swinging one's arm and other patterns, other patterns refer to removing to get rid of
Pattern outside fingerprint formula is referred to as.
The pattern of swinging one's arm refers to that terminal device is swung, such as terminal device is in the hand with arms swing, terminal device phase
Position (such as relative to human body) generating period is changed, the attitude angle of terminal device also changes therewith, such as with arm
It swings and changes.
In the present embodiment, the carrying mode of terminal device can be realized by mode identification method, be included the following steps：
The acceleration and velocity information of terminal device in S5031, the first preset time of acquisition.
S5032, weight component and linear acceleration components are extracted from acceleration information.
Selected characteristic value in S5033, the weight component from acceleration, linear acceleration components and speed.
Specifically, choose that absolute value that weight component projects in pre-set co-ordinate system reference axis, linear acceleration is in water
The absolute value that the absolute value and angular speed of gentle vertical direction project in pre-set co-ordinate system reference axis is as characteristic value.
S5034, the sensor information for obtaining terminal device determine the type of carrying mode according to classifying rules, wherein
Classifying rules is determined according to the numerical distribution characteristic of different carrying mode lower eigenvalues.
The above-mentioned identification for different carrying modes is to use the mode identification method based on decision tree, referring to Fig. 6~figure
13, show that most apparent characteristic value has different numerical distribution characteristics, figure under different motion state and carrying mode in figure
Middle horizontal axis represents 13 carrying modes, and abscissa is respectively from 0 to 12：Static, short message mode walking, telephony mode walking, mouth
Bag pattern walking, get rid of arm pattern walking, short message mode running, telephony mode running, pocket pattern running, get rid of arm pattern running,
It goes upstairs, go downstairs, ascending for elevator and elevator downlink.
The classifying rules of carrying mode is determined according to the statistical nature in the statistical result in figure, to utilize terminal device
Collected sensor information carries out classification judgement to carrying mode, it is determined whether is pattern of swinging one's arm, it is of course also possible to pass through base
Judged that the present embodiment is not specifically limited the decision procedure of carrying mode in other obvious behavioral characteristics.
If the carrying mode of S504, terminal device is pattern of swinging one's arm, the gait event of pedestrian is detected by attitude angle.
When the carrying mode of terminal device is to swing one's arm pattern, the posture of terminal device will produce periodic variation, reason
Wanting is approximately pendulum clock movement, using this periodic rule, can be changed the attitude angle of terminal device and practical object
The walking of reason movement is mapped, to realize that gait detects.
In conclusion the present embodiment is by obtaining attitude angle and terminal device of the terminal device relative to earth coordinates
Carrying mode, and bottom velocity information is collected by sensor and acceleration information judges carrying mode, when carrying mode is to get rid of
When fingerprint formula, by attitude angle detect pedestrian gait event, can ensure gait detection algorithm when swinging one's arm situation error compared with
It is small, it being capable of normal use.
Sixth embodiment
Referring to Figure 14, a kind of flow chart of pedestrian's gait detection method of terminal device, including following step are shown in figure
Suddenly：
Acceleration, angular speed and earth magnetic field intensity in S1401, acquisition pre-set co-ordinate corresponding with terminal device system.
The present embodiment can obtain preset seat respectively by accelerometer, gyroscope and the magnetometer that terminal device carries
Acceleration, angular speed and earth magnetic field intensity in mark system, above-mentioned pre-set co-ordinate system refers to carrier coordinate system, i.e. terminal device sheet
The coordinate system of body.
S1402, according to acceleration, angular speed and earth magnetic field intensity, computing terminal equipment is relative to earth coordinates
Attitude angle.
In the present embodiment, it can be obtained according to acceleration, angular speed and earth magnetic field intensity using posture heading reference system
Terminal device coordinate system relative to the earth attitude angle.The system includes multiple axial sensors, can be that carrier, that is, terminal is set
It is standby that posture information is provided, such as obtain one or more in roll angle, pitch angle and course angle.
Obtaining attitude angle using posture heading reference system is asked by gradient descent algorithm according to quaternion differential equation
The optimal solution of Xie Dangqianzitaijiao, the four-dimensional supercomplex that quaternary number is made of three imaginary numbers on a real add, can be with table
Show the rotation of terminal device in space.
S1403, the carrying mode for obtaining terminal device.
In the present embodiment, the carrying mode of terminal device includes pattern of swinging one's arm and other patterns, other patterns refer to removing to get rid of
Pattern outside fingerprint formula is referred to as.
The pattern of swinging one's arm refers to that terminal device is swung, such as terminal device is in the hand with arms swing, terminal device phase
Position (such as relative to human body) generating period is changed, the attitude angle of terminal device also changes therewith, such as with arm
It swings and changes.
S1404, judge whether the carrying mode of terminal device is the pattern of swinging one's arm, if so, entering step S1405；Otherwise may be used
Terminate flow.
S1405, the attitude angle low-pass filtering to acquisition extract bowing in the multiple attitude angles stored in the second preset time
The elevation angle.
In the present embodiment, the attitude angle for storing certain time (such as second preset time) is needed.
In the present embodiment, specifically need to use pitch angle, pitch angle to be the angle around the Y-axis rotation of pre-set co-ordinate system,
Do gait detection using the angle is not influenced by pedestrian's walking direction, and has higher stability.
S1406, judge to whether there is minimum point in multiple pitch angles, if so, entering step S1407；Otherwise enter step
Rapid S1408.
S1407, judge whether the minimum of pitch angle is less than the second preset value, if so, entering step S1410；Otherwise may be used
Terminate flow.
S1408, judge that multiple pitch angles whether there is maximum point, if so, entering step S1409；Otherwise can terminate to flow
Journey.
S1409, judge whether the maximum of pitch angle is more than third preset value, if so, entering step S1411；Otherwise may be used
Terminate flow.
S1410, output gait event.
In the present embodiment, when there are when extreme point, further using the second preset value and third preset value in pitch angle, i.e.,
Priori threshold value, tests to extreme point, to filter out influence of the minor motion to this method, provides the robustness of this method.
In the present embodiment, Figure 15 is finally obtained, one is walked close to rectangle for carried terminal equipment under pattern of swinging one's arm in figure
The obtained pitching angular curve of closed path, circle represents maximum and minimum in figure, i.e., the gait inspection that this method is thought
Measuring point, from the figure, it can be seen that pitching angular curve is whipped, arm swing generates the variation of near sinusoidal period of a function, and is gone
The influence of the practical direction of advance of people is smaller.
In conclusion extreme point of the present embodiment by terminal device relative to pitch angle in the attitude angle of earth coordinates
Judgement, export gait event accordingly, the gait event of pedestrian in the case where terminal device swings one's arm pattern, can be obtained and count step
Number, ensure gait detection algorithm error when swinging one's arm situation it is smaller, can normal use, can be used in interior or have building screening
It is positioned in the environment of gear.
7th embodiment
Referring to Figure 16, show that the structural schematic diagram of terminal device, terminal device include in figure：Attitude angle acquisition module
1601, carrying mode acquisition module 1602 and detection module 1603.
Wherein, attitude angle acquisition module 1601 is for obtaining attitude angle of the terminal device relative to earth coordinates；It carries
Mode acquisition module 1602 is used to obtain the carrying mode of terminal device；If detection module 1603 is used for the carrying side of terminal device
Formula is pattern of swinging one's arm, and pedestrian's gait event is detected by attitude angle.
Attitude angle acquisition module 1601 includes information acquisition unit 16011 and attitude angle computing unit 16012.
Information acquisition unit 16011 is used to obtain acceleration, the angular speed in pre-set co-ordinate corresponding with terminal device system
And earth magnetic field intensity；Attitude angle computing unit 16012 is used to, according to acceleration, angular speed and earth magnetic field intensity, calculate eventually
Attitude angle of the end equipment end relative to earth coordinates.
In the present embodiment, information acquisition unit 16011 includes：
First obtains subelement 160111：For obtaining acceleration by the accelerometer of terminal device, set by terminal
Standby gyroscope obtains angular speed, and earth magnetic field intensity is obtained by the magnetometer of terminal device；
First processing subelement 160112：If the sample frequency for acceleration, angular speed and earth magnetic field intensity differs
It causes, pre-determined number spline interpolation is carried out to acceleration, angular speed and earth magnetic field intensity；
Second processing subelement 160113：For carrying out low-pass filtering to acceleration, angular speed and earth magnetic field intensity.
In the present embodiment, attitude angle computing unit 16012 includes：
First computation subunit 160121：If being less than the first preset value for earth magnetic field intensity, by acceleration, angular speed
Posture heading reference system is brought into earth magnetic field intensity；
Second computation subunit 160122：If for earth magnetic field intensity be greater than or equal to the first preset value, by acceleration,
Angular speed brings posture heading reference system into；
Export subelement 160123：For exporting the attitude angle from posture heading reference system.
In the present embodiment, carrying mode acquisition module 1602 includes：
Acceleration and velocity information of the reference unit 16021 for acquiring terminal device in the first preset time in advance；
Acquiring unit 16022 is used to obtain weight component and linear acceleration components from the acceleration information；
Assignment unit 16023 is used for the selected characteristic value from the weight component of acceleration, linear acceleration components and speed；
The sensor information that determination unit 16024 is used to obtain terminal device determines carrying mode according to classifying rules,
Wherein, classifying rules is determined according to the numerical distribution characteristic of different carrying mode lower eigenvalues.
In the present embodiment, detection module 1603 includes：
Extraction unit 16031 is used for the attitude angle low-pass filtering to acquisition, is stored in the second preset time of extraction multiple
Pitch angle in attitude angle；
If judging unit 16032 is used in multiple pitch angles there are extreme value, the minimum in multiple pitch angles is less than second
Maximum in preset value and/or multiple pitch angles is more than third preset value, is determined as gait event.
In conclusion required attitude angle can be obtained by attitude angle acquisition module in the present embodiment, pass through carrying mode
Acquisition module determines the carrying mode of terminal device, by detection module when terminal device is to swing one's arm pattern, passes through attitude angle
Pedestrian's gait event is detected, detection error is smaller when can realize relative motion between terminal device and pedestrian.
It should be understood that " one embodiment " or " embodiment " that specification is mentioned in the whole text mean it is related with embodiment
A particular feature, structure, or characteristic includes at least one embodiment of the present invention.Therefore, occur everywhere in the whole instruction
" in one embodiment " or " in one embodiment " not necessarily refer to identical embodiment.In addition, these specific feature, knots
Structure or characteristic can in any suitable manner combine in one or more embodiments.
In various embodiments of the present invention, it should be appreciated that size of the sequence numbers of the above procedures is not meant to execute suitable
The execution sequence of the priority of sequence, each process should be determined by its function and internal logic, the implementation without coping with the embodiment of the present invention
Process constitutes any restriction.
In addition, the terms " system " and " network " are often used interchangeably herein.
In several embodiments provided herein, it should be understood that disclosed method and apparatus, it can be by other
Mode realize.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
For a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can combine
Or it is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed phase
Coupling, direct-coupling or communication connection between mutually can be by some interfaces, the INDIRECT COUPLING or communication of device or unit
Connection can be electrical, machinery or other forms.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit includes independently individually, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can be stored in one and computer-readable deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes pedestrian's gait in each embodiment of the present invention and examines
The part steps of survey method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, abbreviation ROM), random access memory (Random Access Memory, abbreviation RAM), magnetic disc or CD etc. it is each
Kind can store the medium of program code.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of pedestrian's gait detection method of terminal device, which is characterized in that the method includes：
Obtain attitude angle of the terminal device relative to earth coordinates；
Obtain the carrying mode of the terminal device；
If the carrying mode of the terminal device is pattern of swinging one's arm, pedestrian's gait event is detected by the attitude angle.
2. pedestrian's gait detection method of terminal device according to claim 1, which is characterized in that described to obtain the end
Attitude angle of the end equipment relative to earth coordinates, including：
Obtain acceleration, angular speed and the earth magnetic field intensity in pre-set co-ordinate corresponding with terminal device system；
According to the acceleration, angular speed and earth magnetic field intensity, appearance of the terminal device relative to earth coordinates is calculated
State angle.
3. pedestrian's gait detection method of terminal device according to claim 2, which is characterized in that it is described acquisition with it is described
Acceleration, angular speed and earth magnetic field intensity in the corresponding pre-set co-ordinate system of terminal device, including：
Acceleration is obtained by the accelerometer of the terminal device, angular speed is obtained by the gyroscope of the terminal device,
Earth magnetic field intensity is obtained by the magnetometer of the terminal device；
If the sample frequency of the acceleration, angular speed and earth magnetic field intensity is inconsistent, to the acceleration, angular speed and ground
Signal magnetic field intensity carries out pre-determined number spline interpolation；
Low-pass filtering is carried out to the acceleration, angular speed and earth magnetic field intensity.
4. pedestrian's gait detection method of terminal device according to claim 2, which is characterized in that add described in the basis
Speed, angular speed and earth magnetic field intensity calculate attitude angle of the terminal device relative to earth coordinates, including：
If the earth magnetic field intensity is less than the first preset value, the acceleration, angular speed and earth magnetic field intensity are brought into appearance
State heading reference system；
If the earth magnetic field intensity is greater than or equal to the first preset value, the acceleration, angular speed are brought into posture course ginseng
Test system；
The attitude angle is exported from the posture heading reference system.
5. pedestrian's gait detection method of terminal device according to claim 1, which is characterized in that described to obtain the end
The carrying mode of end equipment, including：
Acquire the acceleration and velocity information of terminal device in the first preset time；
Weight component and linear acceleration components are obtained from the acceleration information；
The selected characteristic value from the weight component of acceleration, linear acceleration components and speed；
The sensor information for obtaining terminal device determines the type of carrying mode according to classifying rules, wherein the classification gauge
It is then to be determined according to the numerical distribution characteristic of different carrying mode lower eigenvalues.
6. pedestrian's gait detection method of terminal device according to claim 1, which is characterized in that described to pass through the appearance
The gait event of pedestrian is detected at state angle, including：
To the attitude angle low-pass filtering of the acquisition, the pitch angle in the multiple attitude angles stored in the second preset time of extraction；
If there are extreme value in multiple pitch angles of extraction, the minimum in the multiple pitch angle be less than the second preset value and/or
Maximum in the multiple pitch angle is more than third preset value, is determined as gait event.
7. a kind of terminal device, which is characterized in that the terminal device includes：
Attitude angle acquisition module：For obtaining attitude angle of the terminal device relative to earth coordinates；
Carrying mode acquisition module：Carrying mode for obtaining the terminal device；
Detection module：If the carrying mode for the terminal device is pattern of swinging one's arm, pedestrian's step is detected by the attitude angle
State event.
8. terminal device according to claim 7, which is characterized in that the attitude angle acquisition module includes：
Information acquisition unit：For obtaining acceleration, angular speed and ground in pre-set co-ordinate corresponding with terminal device system
Signal magnetic field intensity；
Attitude angle computing unit：For according to the acceleration, angular speed and earth magnetic field intensity, calculating the terminal device phase
For the attitude angle of earth coordinates；
Wherein, described information acquiring unit includes：
First obtains subelement：For obtaining acceleration by the accelerometer of terminal device, pass through the gyroscope of terminal device
Angular speed is obtained, earth magnetic field intensity is obtained by the magnetometer of terminal device；
First processing subelement：If the sample frequency for the acceleration, angular speed and earth magnetic field intensity is inconsistent, to institute
It states acceleration, angular speed and earth magnetic field intensity and carries out pre-determined number spline interpolation；
Second processing subelement：For carrying out low-pass filtering to the acceleration, angular speed and earth magnetic field intensity；
The attitude angle computing unit includes：
First computation subunit：If for the earth magnetic field intensity be less than the first preset value, by the acceleration, angular speed and
Earth magnetic field intensity brings posture heading reference system into；
Second computation subunit：If being greater than or equal to the first preset value for the earth magnetic field intensity, by the acceleration, angle
Speed brings posture heading reference system into；
Export subelement：For exporting the attitude angle from the posture heading reference system.
9. terminal device according to claim 7, which is characterized in that the carrying mode acquisition module includes：
Reference unit：Acceleration and velocity information for acquiring terminal device in the first preset time；
Acquiring unit：For obtaining weight component and linear acceleration components from the acceleration information；
Assignment unit：For the selected characteristic value from the weight component of the acceleration, linear acceleration components and speed；
Determination unit：Sensor information for obtaining terminal device determines carrying mode according to classifying rules, wherein described
Classifying rules is determined according to the numerical distribution characteristic of different carrying mode lower eigenvalues.
10. terminal device according to claim 7, which is characterized in that the detection module includes：
Extraction unit：To the attitude angle low-pass filtering of the acquisition, in the multiple attitude angles stored in the second preset time of extraction
Pitch angle；
Judging unit：If multiple pitch angles for extraction, there are extreme value, the minimum in the multiple pitch angle is less than second
Maximum in preset value and/or the multiple pitch angle is more than third preset value, is determined as gait event.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710078777.3A CN108426573B (en) | 2017-02-14 | 2017-02-14 | Pedestrian gait detection method of terminal equipment and terminal equipment |
| PCT/CN2018/075384 WO2018149324A1 (en) | 2017-02-14 | 2018-02-06 | Detection method and terminal device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710078777.3A CN108426573B (en) | 2017-02-14 | 2017-02-14 | Pedestrian gait detection method of terminal equipment and terminal equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108426573A true CN108426573A (en) | 2018-08-21 |
| CN108426573B CN108426573B (en) | 2023-04-07 |
Family
ID=63155064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710078777.3A Active CN108426573B (en) | 2017-02-14 | 2017-02-14 | Pedestrian gait detection method of terminal equipment and terminal equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108426573B (en) |
| WO (1) | WO2018149324A1 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109685111A (en) * | 2018-11-26 | 2019-04-26 | 深圳先进技术研究院 | Action identification method, computing system, smart machine and storage medium |
| CN109883431A (en) * | 2019-02-21 | 2019-06-14 | 北京方位捷讯科技有限公司 | One kind walking appearance judgment method and system |
| CN110420029A (en) * | 2019-08-03 | 2019-11-08 | 苏州自如医疗器械有限公司 | A kind of walking step state wireless detecting system based on Multi-sensor Fusion |
| CN110693501A (en) * | 2019-10-12 | 2020-01-17 | 上海应用技术大学 | Wireless walking gait detection system based on multi-sensor fusion |
| CN111751573A (en) * | 2019-09-10 | 2020-10-09 | 广东小天才科技有限公司 | Mobile terminal and moving direction determining method thereof |
| CN112237427A (en) * | 2020-10-14 | 2021-01-19 | 北京爱笔科技有限公司 | Method and device for detecting steps, detection equipment and computer storage medium |
| CN112268556A (en) * | 2020-10-23 | 2021-01-26 | 重庆越致科技有限公司 | Method and device for detecting state of pedestrian taking escalator |
| CN112304316A (en) * | 2020-10-23 | 2021-02-02 | 重庆越致科技有限公司 | Method and device for automatically detecting state and track of pedestrian taking elevator |
| CN113203416A (en) * | 2021-03-19 | 2021-08-03 | 电子科技大学 | Pedestrian dead reckoning method for swing arm pedestrian |
| CN114526727A (en) * | 2022-01-11 | 2022-05-24 | 重庆邮电大学 | Decision tree-based step number distinguishing method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117031068A (en) * | 2023-06-30 | 2023-11-10 | 荣耀终端有限公司 | Gesture detection method, terminal and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009276282A (en) * | 2008-05-16 | 2009-11-26 | Sumitomo Electric Ind Ltd | Attitude determination apparatus and method, movement direction determination apparatus, position determination apparatus, and computer program |
| JP2010218078A (en) * | 2009-03-16 | 2010-09-30 | Seiko Epson Corp | Method and device for detecting number of step |
| CN102184549A (en) * | 2011-04-29 | 2011-09-14 | 韩铮 | Motion parameter determination method and device and motion auxiliary equipment |
| CN103884337A (en) * | 2012-12-19 | 2014-06-25 | 财团法人工业技术研究院 | Multi-attitude step correction positioning system and method |
| CN104567931A (en) * | 2015-01-14 | 2015-04-29 | 华侨大学 | Course-drifting-error elimination method of indoor inertial navigation positioning |
| CN104699965A (en) * | 2015-03-08 | 2015-06-10 | 西安电子科技大学 | Estimation method of parameters of near-field source based on rotating interferometer |
| CN105203098A (en) * | 2015-10-13 | 2015-12-30 | 上海华测导航技术股份有限公司 | Whole attitude angle updating method applied to agricultural machinery and based on nine-axis MEMS (micro-electromechanical system) sensor |
| CN105674984A (en) * | 2016-01-18 | 2016-06-15 | 上海交通大学 | Method for acquiring advancing directions of pedestrians by aid of mobile terminals without constraints |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4993758B2 (en) * | 2008-04-24 | 2012-08-08 | Ｋｄｄｉ株式会社 | Portable terminal, program and method for determining direction of travel of pedestrian using acceleration sensor |
| JP6434144B2 (en) * | 2014-07-18 | 2018-12-05 | アップル インコーポレイテッドＡｐｐｌｅ Ｉｎｃ． | Raise gesture detection on devices |
-
2017
- 2017-02-14 CN CN201710078777.3A patent/CN108426573B/en active Active
-
2018
- 2018-02-06 WO PCT/CN2018/075384 patent/WO2018149324A1/en active Application Filing
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009276282A (en) * | 2008-05-16 | 2009-11-26 | Sumitomo Electric Ind Ltd | Attitude determination apparatus and method, movement direction determination apparatus, position determination apparatus, and computer program |
| JP2010218078A (en) * | 2009-03-16 | 2010-09-30 | Seiko Epson Corp | Method and device for detecting number of step |
| CN102184549A (en) * | 2011-04-29 | 2011-09-14 | 韩铮 | Motion parameter determination method and device and motion auxiliary equipment |
| CN103884337A (en) * | 2012-12-19 | 2014-06-25 | 财团法人工业技术研究院 | Multi-attitude step correction positioning system and method |
| CN104567931A (en) * | 2015-01-14 | 2015-04-29 | 华侨大学 | Course-drifting-error elimination method of indoor inertial navigation positioning |
| CN104699965A (en) * | 2015-03-08 | 2015-06-10 | 西安电子科技大学 | Estimation method of parameters of near-field source based on rotating interferometer |
| CN105203098A (en) * | 2015-10-13 | 2015-12-30 | 上海华测导航技术股份有限公司 | Whole attitude angle updating method applied to agricultural machinery and based on nine-axis MEMS (micro-electromechanical system) sensor |
| CN105674984A (en) * | 2016-01-18 | 2016-06-15 | 上海交通大学 | Method for acquiring advancing directions of pedestrians by aid of mobile terminals without constraints |
Non-Patent Citations (1)
| Title |
|---|
| 张会清;许潇民;: "基于运动姿态识别的行人惯性导航算法" * |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109685111B (en) * | 2018-11-26 | 2023-04-07 | 深圳先进技术研究院 | Motion recognition method, computing system, intelligent device and storage medium |
| CN109685111A (en) * | 2018-11-26 | 2019-04-26 | 深圳先进技术研究院 | Action identification method, computing system, smart machine and storage medium |
| CN109883431A (en) * | 2019-02-21 | 2019-06-14 | 北京方位捷讯科技有限公司 | One kind walking appearance judgment method and system |
| CN110420029A (en) * | 2019-08-03 | 2019-11-08 | 苏州自如医疗器械有限公司 | A kind of walking step state wireless detecting system based on Multi-sensor Fusion |
| CN111751573A (en) * | 2019-09-10 | 2020-10-09 | 广东小天才科技有限公司 | Mobile terminal and moving direction determining method thereof |
| CN110693501A (en) * | 2019-10-12 | 2020-01-17 | 上海应用技术大学 | Wireless walking gait detection system based on multi-sensor fusion |
| CN112237427A (en) * | 2020-10-14 | 2021-01-19 | 北京爱笔科技有限公司 | Method and device for detecting steps, detection equipment and computer storage medium |
| CN112237427B (en) * | 2020-10-14 | 2024-05-28 | 北京爱笔科技有限公司 | Method, device, detection equipment and computer storage medium for detecting steps |
| CN112268556A (en) * | 2020-10-23 | 2021-01-26 | 重庆越致科技有限公司 | Method and device for detecting state of pedestrian taking escalator |
| CN112304316B (en) * | 2020-10-23 | 2021-11-26 | 重庆越致科技有限公司 | Method and device for automatically detecting state and track of pedestrian taking elevator |
| CN112268556B (en) * | 2020-10-23 | 2022-02-25 | 重庆越致科技有限公司 | Method and device for detecting state of pedestrian taking escalator |
| CN112304316A (en) * | 2020-10-23 | 2021-02-02 | 重庆越致科技有限公司 | Method and device for automatically detecting state and track of pedestrian taking elevator |
| CN113203416A (en) * | 2021-03-19 | 2021-08-03 | 电子科技大学 | Pedestrian dead reckoning method for swing arm pedestrian |
| CN114526727A (en) * | 2022-01-11 | 2022-05-24 | 重庆邮电大学 | Decision tree-based step number distinguishing method |
| CN114526727B (en) * | 2022-01-11 | 2023-11-21 | 重庆邮电大学 | Decision tree-based step number judging method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108426573B (en) | 2023-04-07 |
| WO2018149324A1 (en) | 2018-08-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108426573A (en) | A kind of the pedestrian's gait detection method and terminal device of terminal device | |
| Zhou et al. | Use it free: Instantly knowing your phone attitude | |
| CN104061934B (en) | Pedestrian indoor position tracking method based on inertial sensor | |
| CN103968827B (en) | A kind of autonomic positioning method of wearable body gait detection | |
| AU2011374152B2 (en) | Moving direction determination with noisy signals from inertial navigation systems on mobile devices | |
| EP2836791B1 (en) | Information determination in a portable electronic device carried by a user | |
| Bird et al. | Indoor navigation with foot-mounted strapdown inertial navigation and magnetic sensors [emerging opportunities for localization and tracking] | |
| CN109991636A (en) | Map constructing method and system based on GPS, IMU and binocular vision | |
| CN107218938A (en) | The Wearable pedestrian navigation localization method and equipment aided in based on modelling of human body motion | |
| CN106908060A (en) | A kind of high accuracy indoor orientation method based on MEMS inertial sensor | |
| CN106705959A (en) | Method and device for detecting course of mobile terminal | |
| CN108225308A (en) | A kind of attitude algorithm method of the expanded Kalman filtration algorithm based on quaternary number | |
| CN106060914A (en) | Method and apparatus for movement detection by evaluating elementary movement patterns | |
| CN104380043B (en) | Information in the portable electric appts that user carries is determined | |
| WO2014134710A1 (en) | Method and apparatus for fast magnetometer calibration | |
| CN108447225A (en) | A kind of tumble detection method for human body and device | |
| CN104266648A (en) | Indoor location system based on Android platform MARG sensor | |
| Gao et al. | XINS: The anatomy of an indoor positioning and navigation architecture | |
| Wu et al. | Indoor positioning system based on inertial MEMS sensors: Design and realization | |
| CN104251699B (en) | Indoor space positioning method | |
| CN106461401A (en) | Information processing device, information processing method, and computer program | |
| US10466054B2 (en) | Method and system for estimating relative angle between headings | |
| CN109084765B (en) | Indoor walking positioning method and device for pedestrian and storage medium | |
| CN109682372B (en) | Improved PDR method combining building structure information and RFID calibration | |
| Zhao et al. | Towards arbitrary placement of multi-sensors assisted mobile navigation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |