CN111754605A - User trajectory drawing method and device, computer equipment and storage medium - Google Patents
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Abstract
The invention relates to an artificial intelligence technology, and provides a user trajectory drawing method, a user trajectory drawing device, computer equipment and a storage medium. The user trajectory drawing method comprises the following steps: acquiring triaxial acceleration data and course angle data of a user; determining step counting time points according to the triaxial acceleration data; acquiring a course angle corresponding to each step-counting time point from the course angle data; and drawing the motion trail of the user according to each step-counting time point and the corresponding course angle of each step-counting time point. The invention can improve the accuracy and the real-time property of the user track drawing. Meanwhile, the invention also relates to a block chain technology.
Description
Technical Field
The invention relates to the field of artificial intelligence, in particular to a user trajectory drawing method and device, computer equipment and a storage medium.
Background
The Pedestrian Dead Reckoning (PDR) measures and counts the number, step length and direction of walking steps of a Pedestrian, and calculates information such as walking track and position of the Pedestrian. PDR-based user trajectory mapping typically triggers keypoint mapping based on heading angle deviation. Triggering the key point drawing according to the course angle deviation has the following disadvantages: if the user walks multiple steps in the same direction, the drawing will not be triggered until the heading angle changes. Therefore, the user may not see the rendering of the track for a long time until the walking direction of the user changes significantly, the accuracy of track rendering is not high, and the real-time performance cannot be met.
Disclosure of Invention
In view of the foregoing, there is a need for a user trajectory drawing method, apparatus, computer device and storage medium, which can improve the accuracy and real-time performance of user trajectory drawing.
A first aspect of the present application provides a user trajectory drawing method, including:
acquiring triaxial acceleration data and course angle data of a user;
determining step counting time points according to the triaxial acceleration data;
acquiring a course angle corresponding to each step-counting time point from the course angle data;
and drawing the motion trail of the user according to each step-counting time point and the corresponding course angle of each step-counting time point.
In another possible implementation manner, the determining a step-counting time point according to the triaxial acceleration data includes:
performing data smoothing on the triaxial acceleration of each acceleration sampling point to obtain the smoothed triaxial acceleration of each acceleration sampling point;
calculating the comprehensive acceleration of each acceleration sampling point according to the smoothed triaxial acceleration of each acceleration sampling point;
and determining the step counting time point according to the waveform of the comprehensive acceleration.
In another possible implementation manner, the determining the step-counting time point according to the waveform of the integrated acceleration includes:
detecting each peak in the waveform and a trough adjacent to the peak after the peak;
judging whether the difference value of the comprehensive acceleration corresponding to the wave crest and the comprehensive acceleration corresponding to the wave trough is greater than or equal to a first threshold value or not, and judging whether the time corresponding to the wave crest and the time corresponding to the wave trough are greater than or equal to a second threshold value or not;
and if the difference value between the comprehensive acceleration corresponding to the wave crest and the comprehensive acceleration corresponding to the wave trough is greater than or equal to a first threshold value, and the time corresponding to the wave crest and the time corresponding to the wave trough are greater than or equal to a second threshold value, determining the time corresponding to the wave trough as the step counting time point.
In another possible implementation manner, the method further includes:
and storing the motion trail into a block chain.
In another possible implementation manner, the method further includes:
calculating the walking distance of the user according to all the determined step counting time points;
calculating a walking time of the user;
calculating an average walking speed of the user according to the walking distance and the walking time.
In another possible implementation manner, the method further includes:
and giving indication suggestions according to the motion trail so as to guide the user to return to the starting point of the motion trail from the end point of the motion trail.
In another possible implementation manner, the giving of an indication suggestion according to the motion trail to guide the user to return to the starting point of the motion trail from the end point of the motion trail includes:
rendering the motion trail on a map;
judging whether the user returns to the end point of the motion trail;
if the user returns to the end point of the motion track, drawing the return track of the user on the map by using the acceleration sensor and the geomagnetic sensor;
calculating the fitting degree of the corresponding track points on the return track and the motion track;
judging whether the fitting degree is smaller than a preset threshold value or not;
if the fitting degree is smaller than a preset threshold value, sending out an information prompt for adjusting the direction;
judging whether the motion track reaches the starting point of the motion track;
and if the initial point of the motion track is reached, sending an information prompt of returning to the original position.
A second aspect of the present application provides a user trajectory drawing device, the device including:
the first acquisition module is used for acquiring the triaxial acceleration data and the course angle data of a user;
the determining module is used for determining step counting time points according to the triaxial acceleration data;
the second acquisition module is used for acquiring the course angle corresponding to each step-counting time point from the course angle data;
and the drawing module is used for drawing the motion trail of the user according to each step-counting time point and the corresponding course angle of each step-counting time point.
In another possible implementation manner, the determining a step-counting time point according to the triaxial acceleration data includes:
performing data smoothing on the triaxial acceleration of each acceleration sampling point to obtain the smoothed triaxial acceleration of each acceleration sampling point;
calculating the comprehensive acceleration of each acceleration sampling point according to the smoothed triaxial acceleration of each acceleration sampling point;
and determining the step counting time point according to the waveform of the comprehensive acceleration.
In another possible implementation manner, the determining the step-counting time point according to the waveform of the integrated acceleration includes:
detecting each peak in the waveform and a trough adjacent to the peak after the peak;
judging whether the difference value of the comprehensive acceleration corresponding to the wave crest and the comprehensive acceleration corresponding to the wave trough is greater than or equal to a first threshold value or not, and judging whether the time corresponding to the wave crest and the time corresponding to the wave trough are greater than or equal to a second threshold value or not;
and if the difference value between the comprehensive acceleration corresponding to the wave crest and the comprehensive acceleration corresponding to the wave trough is greater than or equal to a first threshold value, and the time corresponding to the wave crest and the time corresponding to the wave trough are greater than or equal to a second threshold value, determining the time corresponding to the wave trough as the step counting time point.
In another possible implementation manner, the apparatus further includes:
and the storage module is used for storing the motion trail into a block chain.
In another possible implementation manner, the apparatus further includes a calculation module, configured to:
calculating the walking distance of the user according to all the determined step counting time points;
calculating a walking time of the user;
calculating an average walking speed of the user according to the walking distance and the walking time.
In another possible implementation manner, the method further includes:
and the guiding module is used for giving an indication suggestion according to the motion trail so as to guide the user to return to the starting point of the motion trail from the end point of the motion trail.
In another possible implementation manner, the giving of an indication suggestion according to the motion trail to guide the user to return to the starting point of the motion trail from the end point of the motion trail includes:
rendering the motion trail on a map;
judging whether the user returns to the end point of the motion trail;
if the user returns to the end point of the motion track, drawing the return track of the user on the map by using the acceleration sensor and the geomagnetic sensor;
calculating the fitting degree of the corresponding track points on the return track and the motion track;
judging whether the fitting degree is smaller than a preset threshold value or not;
if the fitting degree is smaller than a preset threshold value, sending out an information prompt for adjusting the direction;
judging whether the motion track reaches the starting point of the motion track;
and if the initial point of the motion track is reached, sending an information prompt of returning to the original position.
A third aspect of the application provides a computer device comprising a processor for implementing the user trajectory drawing method when executing a computer program stored in a memory.
A fourth aspect of the present application provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the user trajectory drawing method.
The method comprises the steps of obtaining triaxial acceleration data and course angle data of a user; determining step counting time points according to the triaxial acceleration data; acquiring a course angle corresponding to each step-counting time point from the course angle data; and drawing the motion trail of the user according to each step-counting time point and the corresponding course angle of each step-counting time point.
The conventional user track drawing method triggers track drawing based on the fact that the deviation of the course angle is larger than a given threshold value, and the steering is neglected due to the fact that the continuous difference of the course angle smaller than the given threshold value forms a large accumulated error. If the user keeps moving in a certain direction for a long time, the user path cannot be drawn in real time due to no steering. In addition, the conventional user trajectory drawing method triggers trajectory drawing based on the fact that the deviation of the course angle is larger than a given threshold value, and a given threshold value of the deviation of the course angle needs to be set. The threshold is an empirical value, which is inaccurate and inconsistent in gait characteristics of each person, so that the threshold is difficult to set, and further increases the accumulated error of the user in trajectory drawing. The invention effectively avoids the defects and can draw the user track more accurately and in real time.
Drawings
Fig. 1 is a flowchart of a user trajectory drawing method according to an embodiment of the present invention.
Fig. 2 is a structural diagram of a user trajectory drawing device according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a computer device provided by an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a detailed description of the present invention will be given below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Preferably, the user trajectory drawing method of the present invention is applied to one or more computer devices. The computer device is a device capable of automatically performing numerical calculation and/or information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.
The computer device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The computer equipment can carry out man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch panel or voice control equipment and the like.
Example one
Fig. 1 is a flowchart of a user trajectory drawing method according to an embodiment of the present invention. The user trajectory drawing method is applied to computer equipment. The user track drawing method draws the motion track of the user according to the triaxial acceleration data and the course angle data of the user.
The method and the device can be applied to scenes such as smart communities and smart traffic, and accordingly construction of smart cities is promoted.
As shown in fig. 1, the user trajectory drawing method includes:
101, acquiring triaxial acceleration data and heading angle data of a user.
In an embodiment, the three-axis acceleration data and the heading angle data are obtained by using a mobile terminal carried by a user. The mobile terminal comprises an acceleration sensor and a geomagnetic sensor, the acceleration sensor is used for collecting the triaxial acceleration data, and the geomagnetic sensor is used for collecting the heading angle data.
The triaxial acceleration data and the heading angle data are data of the same time period.
The three-axis acceleration data includes an x-axis acceleration, a y-axis acceleration, and a z-axis acceleration. The acceleration sensor collects the three-axis acceleration data at a first sampling frequency (e.g., 1/20 ms).
The geomagnetic sensor collects the heading angle data at a second sampling frequency (e.g., 1/200 ms).
In an embodiment, the first sampling frequency is greater than the second sampling frequency.
The triaxial acceleration data correspond to a plurality of acceleration sampling points, and the course angle data correspond to a plurality of course angle sampling points.
And 102, determining step counting time points according to the triaxial acceleration data.
Determining step counting time points according to the triaxial acceleration data is to judge whether each sampling point corresponding to the triaxial acceleration data is a step counting time point.
In an embodiment, the determining a step-counting time point according to the triaxial acceleration data comprises:
(1) and carrying out data smoothing on the triaxial acceleration of each acceleration sampling point corresponding to the triaxial acceleration data to obtain the smoothed triaxial acceleration of each acceleration sampling point.
In an embodiment, a plurality of value intervals can be divided for the X-axis acceleration, the y-axis acceleration and the z-axis acceleration respectively, each value interval corresponds to a standard value, and the three-axis acceleration (which can be recorded as X) of each acceleration sampling point (which can be recorded as acceleration sampling point i) is divided into three axis acceleration (which can be recorded as X)i,Yi,Zi) Taking a standard value corresponding to the value section as the smoothed triaxial acceleration (which can be recorded as X ') of the acceleration sampling point'i,Y′i,Z′i). For example, the x-axis acceleration is divided into value ranges [0,2 ], [2,4 ], [4,6 ]), …, the corresponding standard values are 1,3,5, …, respectively, and if the x-axis acceleration is 2.5, the smoothed x-axis acceleration is 3.
In other embodiments, other data smoothing methods may be used to perform data smoothing on the three-axis acceleration of each acceleration sampling point. For example, a Simple Moving Average (SMA) method may be used to perform data smoothing on the three-axis acceleration of each acceleration sampling point.
(2) And calculating the comprehensive acceleration of each acceleration sampling point according to the smoothed triaxial acceleration of each acceleration sampling point.
In one embodiment, the square sum root of the three-axis acceleration of each acceleration sampling point is calculated, and the square sum root is taken as the comprehensive acceleration of the acceleration sampling point, that is:
wherein gValue is the comprehensive acceleration, X'i,Y′i,Z′iFor three-axis acceleration X of acceleration sampling point ii,Yi,ZiAnd carrying out data smoothing to obtain the smoothed triaxial acceleration.
In other embodiments, the integrated acceleration for each acceleration sample point may be calculated in other ways. For example, the arithmetic mean of the three-axis accelerations of each acceleration sampling point is calculated, and the arithmetic mean is used as the comprehensive acceleration of the acceleration sampling point.
(3) And determining the step counting time point according to the waveform of the comprehensive acceleration.
And obtaining the waveform of the comprehensive acceleration according to the comprehensive acceleration of all the acceleration sampling points. The horizontal axis of the waveform is time, and the vertical axis of the waveform is comprehensive acceleration.
When the human body walks, the mobile terminal moves along with the human body. The walking of the person is divided into the processes of lifting legs, landing to the ground and translating, corresponding numerical value changes can be carried out on the acceleration sensor, and the person is in a regular state. The law may be presented on the waveform of the integrated acceleration. The integrated acceleration is exactly between two troughs each time one step is completed. Thus, peak-to-trough detection (i.e., from one peak to one trough) may be performed, and the step-counting time point may be determined based on the detected peak-to-trough.
In one embodiment, the determining the step-counting time point according to the waveform of the integrated acceleration includes:
detecting each peak in the waveform and a trough adjacent to the peak after the peak;
judging whether the difference value of the comprehensive acceleration corresponding to the wave crest and the comprehensive acceleration corresponding to the wave trough is greater than or equal to a first threshold value or not, and judging whether the time corresponding to the wave crest and the time corresponding to the wave trough are greater than or equal to a second threshold value or not;
and if the difference value between the comprehensive acceleration corresponding to the wave crest and the comprehensive acceleration corresponding to the wave trough is greater than or equal to a first threshold value, and the time corresponding to the wave crest and the time corresponding to the wave trough are greater than or equal to a second threshold value, determining the time corresponding to the wave trough as the step counting time point.
And if the difference value between the comprehensive acceleration corresponding to the wave crest and the comprehensive acceleration corresponding to the wave trough is greater than or equal to a first threshold value, and the time corresponding to the wave crest and the time corresponding to the wave trough are greater than or equal to a second threshold value, judging that the walking is one step, and taking the position of the wave trough as a step counting time point.
In one embodiment, the first threshold is calculated as follows:
acquiring wave peak and wave trough differences one by one according to the waveform of the comprehensive acceleration;
defining an array queue with the length of k (for example, k is 6), and storing the obtained peak-valley difference into the array queue;
when the array queue is full of k data (namely k peak-trough differences), calculating the arithmetic mean of the array queue, and taking the arithmetic mean as the first threshold;
when the (k + 1) th data (namely the (k + 1) peak-trough difference) is acquired, the first data in the array queue is removed, and the latest acquired data is placed at the end of the array queue.
The first threshold value is determined by dynamic calculation to meet the difference requirements of different users and meet the real-time requirement.
103, obtaining the course angle corresponding to each step-counting time point from the course angle data.
For example, if the step counting time point is time 2,4, 6, 8, …, the heading angle data at time 2,4, 6, 8, … is obtained.
The triaxial acceleration data and the course angle data can be aligned on the same time axis, and the course angle corresponding to each step-counting time point is determined according to the aligned course angle data.
In an embodiment, the sampling frequency of the acceleration sensor of the mobile terminal is different from that of the geomagnetic sensor, and the sampling frequency of the geomagnetic sensor is less than the sampling frequency of the acceleration sensor (i.e., the sampling time interval of the geomagnetic sensor is greater than that of the acceleration sensor), so that some step-counting time points may not acquire the corresponding heading angle.
In an embodiment, if one step-counting time point does not acquire the corresponding course angle, determining the course angle of the last course angle sampling point closest to the step-counting time point as the course angle corresponding to the step-counting time point.
104, drawing the motion trail of the user according to each step-counting time point and the corresponding course angle of each step-counting time point.
And forming a vector by each step counting time point and the course angle corresponding to the step counting time point, and drawing the motion trail of the user according to the vectors corresponding to all the step counting time points.
When the motion trail of the user is drawn, a course coordinate system can be constructed by taking 0 degrees as north, 90 degrees as east, 180 degrees as south and 270 degrees as west.
And on the motion trail, each step counting time point corresponds to one track point. And the line segments between two adjacent track points are equal to represent one step length. And the direction angle of the track point corresponding to each step-counting time point is equal to the course angle corresponding to the step-counting time point.
The user track drawing method of the first embodiment obtains three-axis acceleration data and course angle data of a user; determining step counting time points according to the triaxial acceleration data; acquiring a course angle corresponding to each step-counting time point from the course angle data; and drawing the motion trail of the user according to each step-counting time point and the corresponding course angle of each step-counting time point. The conventional user track drawing method triggers track drawing based on the fact that the deviation of the course angle is larger than a given threshold value, and the steering is neglected due to the fact that the continuous difference of the course angle smaller than the given threshold value forms a large accumulated error. If the user keeps moving in a certain direction for a long time, the user path cannot be drawn in real time due to no steering. In addition, the conventional user trajectory drawing method triggers trajectory drawing based on the fact that the deviation of the course angle is larger than a given threshold value, and a given threshold value of the deviation of the course angle needs to be set. The threshold is an empirical value, which is inaccurate and inconsistent in gait characteristics of each person, so that the threshold is difficult to set, and further increases the accumulated error of the user in trajectory drawing. The user track drawing method effectively avoids the defects and can draw the user track more accurately and in real time.
In another embodiment, the method further comprises:
and storing the motion trail into a block chain.
In order to ensure privacy and security of the trace drawing result, the motion trace can also be stored in a node of a block chain.
The computer device may pack the motion trajectories into blocks, which are linked into a block chain after being identified by a block chain system. Accordingly, the user can synchronize the blocks that have been commonly identified by the blockchain system, and parse the blocks to obtain the motion trajectory.
In another embodiment, the method further comprises:
and calculating the walking distance of the user according to all the determined step counting time points.
The number of all step-counting time points may be calculated, and the average step length of the user is multiplied by the number of all step-counting time points to obtain the walking distance. The number of all step counting time points is also the number of steps of the user.
In another embodiment, the method further comprises:
calculating a walking time of the user;
calculating an average walking speed of the user according to the walking distance and the walking time.
The average walking speed can be obtained by dividing the walking distance by the walking time.
In another embodiment, the method further comprises:
and giving indication suggestions according to the motion trail so as to guide the user to return to the starting point of the motion trail from the end point of the motion trail.
The giving of indication suggestions according to the motion trail to guide the user to return to the starting point of the motion trail from the end point of the motion trail comprises:
rendering the motion trail on a map;
judging whether the user returns to the end point of the motion trail;
if the user returns to the end point of the motion track, drawing the return track of the user on the map by using the acceleration sensor and the geomagnetic sensor;
calculating the fitting degree of the corresponding track points on the return track and the motion track;
judging whether the fitting degree is smaller than a preset threshold value or not;
if the fitting degree is smaller than a preset threshold value, sending out an information prompt for adjusting the direction;
judging whether the motion track reaches the starting point of the motion track;
and if the initial point of the motion track is reached, sending an information prompt of returning to the original position.
Example two
Fig. 2 is a structural diagram of a user trajectory drawing device according to a second embodiment of the present invention. The user trajectory drawing device 20 is applied to a computer device. The user trajectory drawing device 20 draws the motion trajectory of the user according to the triaxial acceleration data and the course angle data of the user.
The method and the device can be applied to scenes such as smart communities and smart traffic, and accordingly construction of smart cities is promoted.
As shown in fig. 2, the user trajectory drawing device 20 may include a first obtaining module 201, a determining module 202, a second obtaining module 203, and a drawing module 204.
The first obtaining module 201 is configured to obtain triaxial acceleration data and heading angle data of a user.
In an embodiment, the three-axis acceleration data and the heading angle data are obtained by using a mobile terminal carried by a user. The mobile terminal comprises an acceleration sensor and a geomagnetic sensor, the acceleration sensor is used for collecting the triaxial acceleration data, and the geomagnetic sensor is used for collecting the heading angle data.
The triaxial acceleration data and the heading angle data are data of the same time period.
The three-axis acceleration data includes an x-axis acceleration, a y-axis acceleration, and a z-axis acceleration. The acceleration sensor collects the three-axis acceleration data at a first sampling frequency (e.g., 1/20 ms).
The geomagnetic sensor collects the heading angle data at a second sampling frequency (e.g., 1/200 ms).
In an embodiment, the first sampling frequency is greater than the second sampling frequency.
The triaxial acceleration data correspond to a plurality of acceleration sampling points, and the course angle data correspond to a plurality of course angle sampling points.
And the determining module 202 is configured to determine a step-counting time point according to the triaxial acceleration data.
Determining step counting time points according to the triaxial acceleration data is to judge whether each sampling point corresponding to the triaxial acceleration data is a step counting time point.
In an embodiment, the determining a step-counting time point according to the triaxial acceleration data comprises:
(1) and carrying out data smoothing on the triaxial acceleration of each acceleration sampling point corresponding to the triaxial acceleration data to obtain the smoothed triaxial acceleration of each acceleration sampling point.
In an embodiment, a plurality of value intervals can be divided for the X-axis acceleration, the y-axis acceleration and the z-axis acceleration respectively, each value interval corresponds to a standard value, and the three-axis acceleration (which can be recorded as X) of each acceleration sampling point (which can be recorded as acceleration sampling point i) is divided into three axis acceleration (which can be recorded as X)i,Yi,Zi) Taking a standard value corresponding to the value section as the smoothed triaxial acceleration (which can be recorded as X ') of the acceleration sampling point'i,Y′i,Z′i). For example, the x-axis acceleration is divided into value ranges [0,2 ], [2,4 ], [4,6 ]), …, the corresponding standard values are 1,3,5, …, respectively, and if the x-axis acceleration is 2.5, the smoothed x-axis acceleration is 3.
In other embodiments, other data smoothing methods may be used to perform data smoothing on the three-axis acceleration of each acceleration sampling point. For example, a Simple Moving Average (SMA) method may be used to perform data smoothing on the three-axis acceleration of each acceleration sampling point.
(2) And calculating the comprehensive acceleration of each acceleration sampling point according to the smoothed triaxial acceleration of each acceleration sampling point.
In one embodiment, the square sum root of the three-axis acceleration of each acceleration sampling point is calculated, and the square sum root is taken as the comprehensive acceleration of the acceleration sampling point, that is:
wherein gValue is the comprehensive acceleration, X'i,Y′i,Z′iFor three-axis acceleration X of acceleration sampling point ii,Yi,ZiAnd carrying out data smoothing to obtain the smoothed triaxial acceleration.
In other embodiments, the integrated acceleration for each acceleration sample point may be calculated in other ways. For example, the arithmetic mean of the three-axis accelerations of each acceleration sampling point is calculated, and the arithmetic mean is used as the comprehensive acceleration of the acceleration sampling point.
(3) And determining the step counting time point according to the waveform of the comprehensive acceleration.
And obtaining the waveform of the comprehensive acceleration according to the comprehensive acceleration of all the acceleration sampling points. The horizontal axis of the waveform is time, and the vertical axis of the waveform is comprehensive acceleration.
When the human body walks, the mobile terminal moves along with the human body. The walking of the person is divided into the processes of lifting legs, landing to the ground and translating, corresponding numerical value changes can be carried out on the acceleration sensor, and the person is in a regular state. The law may be presented on the waveform of the integrated acceleration. The integrated acceleration is exactly between two troughs each time one step is completed. Thus, peak-to-trough detection (i.e., from one peak to one trough) may be performed, and the step-counting time point may be determined based on the detected peak-to-trough.
In one embodiment, the determining the step-counting time point according to the waveform of the integrated acceleration includes:
detecting each peak in the waveform and a trough adjacent to the peak after the peak;
judging whether the difference value (called wave crest and wave trough difference) between the comprehensive acceleration corresponding to the wave crest and the comprehensive acceleration corresponding to the wave trough is larger than or equal to a first threshold value, and judging whether the time corresponding to the wave crest and the time corresponding to the wave trough are larger than or equal to a second threshold value;
and if the difference value between the comprehensive acceleration corresponding to the wave crest and the comprehensive acceleration corresponding to the wave trough is greater than or equal to a first threshold value, and the time corresponding to the wave crest and the time corresponding to the wave trough are greater than or equal to a second threshold value, determining the time corresponding to the wave trough as the step counting time point.
And if the difference value between the comprehensive acceleration corresponding to the wave crest and the comprehensive acceleration corresponding to the wave trough is greater than or equal to a first threshold value, and the time corresponding to the wave crest and the time corresponding to the wave trough are greater than or equal to a second threshold value, judging that the walking is one step, and taking the position of the wave trough as a step counting time point.
In one embodiment, the first threshold is calculated as follows:
acquiring wave peak and wave trough differences one by one according to the waveform of the comprehensive acceleration;
defining an array queue with the length of k (for example, k is 6), and storing the obtained peak-valley difference into the array queue;
when the array queue is full of k data (namely k peak-trough differences), calculating the arithmetic mean of the array queue, and taking the arithmetic mean as the first threshold;
when the (k + 1) th data (namely the (k + 1) peak-trough difference) is acquired, the first data in the array queue is removed, and the latest acquired data is placed at the end of the array queue.
The first threshold value is determined by dynamic calculation to meet the difference requirements of different users and meet the real-time requirement.
And the second obtaining module 203 is configured to obtain, from the heading angle data, a heading angle corresponding to each step-counting time point.
For example, if the step counting time point is time 2,4, 6, 8, …, the heading angle data at time 2,4, 6, 8, … is obtained.
The triaxial acceleration data and the course angle data can be aligned on the same time axis, and the course angle corresponding to each step-counting time point is determined according to the aligned course angle data.
In an embodiment, the sampling frequency of the acceleration sensor of the mobile terminal is different from that of the geomagnetic sensor, and the sampling frequency of the geomagnetic sensor is less than the sampling frequency of the acceleration sensor (i.e., the sampling time interval of the geomagnetic sensor is greater than that of the acceleration sensor), so that some step-counting time points may not acquire the corresponding heading angle.
In an embodiment, if one step-counting time point does not acquire the corresponding course angle, determining the course angle of the last course angle sampling point closest to the step-counting time point as the course angle corresponding to the step-counting time point.
And the drawing module 204 is used for drawing the motion trail of the user according to each step-counting time point and the corresponding course angle of each step-counting time point.
And forming a vector by each step counting time point and the course angle corresponding to the step counting time point, and drawing the motion trail of the user according to the vectors corresponding to all the step counting time points.
When the motion trail of the user is drawn, a course coordinate system can be constructed by taking 0 degrees as north, 90 degrees as east, 180 degrees as south and 270 degrees as west.
And on the motion trail, each step counting time point corresponds to one track point. And the line segments between two adjacent track points are equal to represent one step length. And the direction angle of the track point corresponding to each step-counting time point is equal to the course angle corresponding to the step-counting time point.
The user trajectory drawing device 20 of the second embodiment obtains the triaxial acceleration data and the course angle data of the user; determining step counting time points according to the triaxial acceleration data; acquiring a course angle corresponding to each step-counting time point from the course angle data; and drawing the motion trail of the user according to each step-counting time point and the corresponding course angle of each step-counting time point. The conventional user track drawing method triggers track drawing based on the fact that the deviation of the course angle is larger than a given threshold value, and the steering is neglected due to the fact that the continuous difference of the course angle smaller than the given threshold value forms a large accumulated error. If the user keeps moving in a certain direction for a long time, the user path cannot be drawn in real time due to no steering. In addition, the conventional user trajectory drawing method triggers trajectory drawing based on the fact that the deviation of the course angle is larger than a given threshold value, and a given threshold value of the deviation of the course angle needs to be set. The threshold is an empirical value, which is inaccurate and inconsistent in gait characteristics of each person, so that the threshold is difficult to set, and further increases the accumulated error of the user in trajectory drawing. The user trajectory drawing device 20 effectively avoids the above-mentioned drawbacks, and can draw a user trajectory more accurately and in real time.
In another embodiment, the user trajectory drawing device 20 further includes:
and the storage module is used for storing the motion trail into a block chain.
In order to ensure privacy and security of the trace drawing result, the motion trace can also be stored in a node of a block chain.
The computer device may pack the motion trajectories into blocks, which are linked into a block chain after being identified by a block chain system. Accordingly, the user can synchronize the blocks that have been commonly identified by the blockchain system, and parse the blocks to obtain the motion trajectory.
In another embodiment, the user trajectory drawing device 20 further includes:
and the calculating module is used for calculating the walking distance of the user according to all the determined step counting time points.
The number of all step-counting time points may be calculated, and the average step length of the user is multiplied by the number of all step-counting time points to obtain the walking distance. The number of all step counting time points is also the number of steps of the user.
In another embodiment, the calculation module is further configured to:
calculating a walking time of the user;
calculating an average walking speed of the user according to the walking distance and the walking time.
The average walking speed can be obtained by dividing the walking distance by the walking time.
In another embodiment, the user trajectory drawing device 20 further includes:
and the guiding module is used for giving an indication suggestion according to the motion trail so as to guide the user to return to the starting point of the motion trail from the end point of the motion trail.
The giving of indication suggestions according to the motion trail to guide the user to return to the starting point of the motion trail from the end point of the motion trail comprises:
rendering the motion trail on a map;
judging whether the user returns to the end point of the motion trail;
if the user returns to the end point of the motion track, drawing the return track of the user on the map by using the acceleration sensor and the geomagnetic sensor;
calculating the fitting degree of the corresponding track points on the return track and the motion track;
judging whether the fitting degree is smaller than a preset threshold value or not;
if the fitting degree is smaller than a preset threshold value, sending out an information prompt for adjusting the direction;
judging whether the motion track reaches the starting point of the motion track;
and if the initial point of the motion track is reached, sending an information prompt of returning to the original position.
EXAMPLE III
The present embodiment provides a storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps in the user trajectory drawing method embodiment are implemented, for example, 101-104 shown in fig. 1:
101, acquiring triaxial acceleration data and course angle data of a user;
102, determining step counting time points according to the triaxial acceleration data;
103, acquiring a course angle corresponding to each step-counting time point from the course angle data;
104, drawing the motion trail of the user according to each step-counting time point and the corresponding course angle of each step-counting time point.
Alternatively, the computer program, when executed by the processor, implements the functions of the modules in the above device embodiments, such as the module 201 and 204 in fig. 2:
a first obtaining module 201, configured to obtain triaxial acceleration data and heading angle data of a user;
a determining module 202, configured to determine a step-counting time point according to the triaxial acceleration data;
the second obtaining module 203 is configured to obtain a heading angle corresponding to each step-counting time point from the heading angle data;
and the drawing module 204 is used for drawing the motion trail of the user according to each step-counting time point and the corresponding course angle of each step-counting time point.
Example four
Fig. 3 is a schematic diagram of a computer device according to a fourth embodiment of the present invention. The computer device 30 comprises a memory 301, a processor 302 and a computer program 303, such as a user trajectory drawing program, stored in the memory 301 and executable on the processor 302. The processor 302, when executing the computer program 303, implements the steps in the above-mentioned user trajectory drawing method embodiment, such as 101-104 shown in fig. 1:
101, acquiring triaxial acceleration data and course angle data of a user;
102, determining step counting time points according to the triaxial acceleration data;
103, acquiring a course angle corresponding to each step-counting time point from the course angle data;
104, drawing the motion trail of the user according to each step-counting time point and the corresponding course angle of each step-counting time point.
Alternatively, the computer program, when executed by the processor, implements the functions of the modules in the above device embodiments, such as the module 201 and 204 in fig. 2:
a first obtaining module 201, configured to obtain triaxial acceleration data and heading angle data of a user;
a determining module 202, configured to determine a step-counting time point according to the triaxial acceleration data;
the second obtaining module 203 is configured to obtain a heading angle corresponding to each step-counting time point from the heading angle data;
and the drawing module 204 is used for drawing the motion trail of the user according to each step-counting time point and the corresponding course angle of each step-counting time point.
Illustratively, the computer program 303 may be partitioned into one or more modules that are stored in the memory 301 and executed by the processor 302 to perform the present method. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 303 in the computer device 30.
The computer device 30 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. Those skilled in the art will appreciate that the schematic diagram 3 is merely an example of the computer device 30 and does not constitute a limitation of the computer device 30, and may include more or less components than those shown, or combine certain components, or different components, for example, the computer device 30 may also include input and output devices, network access devices, buses, etc.
The Processor 302 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor 302 may be any conventional processor or the like, the processor 302 being the control center for the computer device 30 and connecting the various parts of the overall computer device 30 using various interfaces and lines.
The memory 301 may be used to store the computer program 303, and the processor 302 may implement various functions of the computer device 30 by running or executing the computer program or module stored in the memory 301 and calling data stored in the memory 301. The memory 301 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created according to the use of the computer device 30. Further, the memory 301 may include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other non-volatile solid state storage device.
The modules integrated by the computer device 30 may be stored in a storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a storage medium and executed by a processor, to instruct related hardware to implement the steps of the embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying said computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM).
Further, the computer usable storage medium may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the blockchain node, and the like.
The block chain is a novel application mode of computer technologies such as distributed data storage, point-to-point transmission, a consensus mechanism, an encryption algorithm and the like. A block chain (Blockchain), which is essentially a decentralized database, is a series of data blocks associated by using a cryptographic method, and each data block contains information of a batch of network transactions, so as to verify the validity (anti-counterfeiting) of the information and generate a next block. The blockchain may include a blockchain underlying platform, a platform product service layer, an application service layer, and the like.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware form, and can also be realized in a form of hardware and a software functional module.
The integrated module implemented in the form of a software functional module may be stored in a storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned. Furthermore, it is to be understood that the word "comprising" does not exclude other modules or steps, and the singular does not exclude the plural. A plurality of modules or means recited in the system claims may also be implemented by one module or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A method for drawing a user trajectory, the method comprising:
acquiring triaxial acceleration data and course angle data of a user;
determining step counting time points according to the triaxial acceleration data;
acquiring a course angle corresponding to each step-counting time point from the course angle data;
and drawing the motion trail of the user according to each step-counting time point and the corresponding course angle of each step-counting time point.
2. The user trajectory mapping method of claim 1, wherein said determining a step-counting time point from said three-axis acceleration data comprises:
performing data smoothing on the triaxial acceleration of each acceleration sampling point to obtain the smoothed triaxial acceleration of each acceleration sampling point;
calculating the comprehensive acceleration of each acceleration sampling point according to the smoothed triaxial acceleration of each acceleration sampling point;
and determining the step counting time point according to the waveform of the comprehensive acceleration.
3. The user trajectory drawing method of claim 1, wherein the determining the step-counting time point from the waveform of the integrated acceleration includes:
detecting each peak in the waveform and a trough adjacent to the peak after the peak;
judging whether the difference value of the comprehensive acceleration corresponding to the wave crest and the comprehensive acceleration corresponding to the wave trough is greater than or equal to a first threshold value or not, and judging whether the time corresponding to the wave crest and the time corresponding to the wave trough are greater than or equal to a second threshold value or not;
and if the difference value between the comprehensive acceleration corresponding to the wave crest and the comprehensive acceleration corresponding to the wave trough is greater than or equal to a first threshold value, and the time corresponding to the wave crest and the time corresponding to the wave trough are greater than or equal to a second threshold value, determining the time corresponding to the wave trough as the step counting time point.
4. The method of user trajectory mapping of claim 1, the method further comprising:
and storing the motion trail into a block chain, and calculating the walking distance of the user according to all determined step counting time points.
5. The method of user trajectory mapping of claim 1, the method further comprising:
calculating the walking distance of the user according to all the determined step counting time points;
calculating a walking time of the user;
calculating an average walking speed of the user according to the walking distance and the walking time.
6. The user trajectory drawing method according to any one of claims 1 to 5, characterized in that the method further comprises:
and giving indication suggestions according to the motion trail so as to guide the user to return to the starting point of the motion trail from the end point of the motion trail.
7. The method for drawing the user's track according to claim 6, wherein the giving of the indication suggestion according to the motion track to guide the user to return to the starting point of the motion track from the ending point of the motion track comprises:
rendering the motion trail on a map;
judging whether the user returns to the end point of the motion trail;
if the user returns to the end point of the motion track, drawing the return track of the user on the map by using the acceleration sensor and the geomagnetic sensor;
calculating the fitting degree of the corresponding track points on the return track and the motion track;
judging whether the fitting degree is smaller than a preset threshold value or not;
if the fitting degree is smaller than a preset threshold value, sending out an information prompt for adjusting the direction;
judging whether the motion track reaches the starting point of the motion track;
and if the initial point of the motion track is reached, sending an information prompt of returning to the original position.
8. An apparatus for user trajectory mapping, the apparatus comprising:
the first acquisition module is used for acquiring the triaxial acceleration data and the course angle data of a user;
the determining module is used for determining step counting time points according to the triaxial acceleration data;
the second acquisition module is used for acquiring the course angle corresponding to each step-counting time point from the course angle data;
and the drawing module is used for drawing the motion trail of the user according to each step-counting time point and the corresponding course angle of each step-counting time point.
9. A computer device, characterized in that the computer device comprises a processor for executing a computer program stored in a memory for implementing the user trajectory drawing method according to any one of claims 1 to 7.
10. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the user trajectory rendering method according to any one of claims 1 to 7.
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