CN202304842U - Walking positioning equipment - Google Patents
Walking positioning equipment Download PDFInfo
- Publication number
- CN202304842U CN202304842U CN2011202318735U CN201120231873U CN202304842U CN 202304842 U CN202304842 U CN 202304842U CN 2011202318735 U CN2011202318735 U CN 2011202318735U CN 201120231873 U CN201120231873 U CN 201120231873U CN 202304842 U CN202304842 U CN 202304842U
- Authority
- CN
- China
- Prior art keywords
- acceleration
- integral operation
- coordinate system
- human body
- module
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The utility model provides walking positioning equipment. The equipment comprises an acceleration measuring instrument, an attitude data measuring instrument, a coordinate conversion module, an integral operation module and a walking track acquisition module. The acceleration measuring instrument and the attitude data measuring instrument are respectively and electrically connected with the coordinate conversion module; the coordinate conversion module is electrically connected with the integral operation module; the integral operation module is electrically connected with the walking track acquisition module; and after the acceleration is measured by the acceleration measuring instrument, the acceleration is subjected to coordinate conversion by the coordinate conversion module based on the attitude data measured by the attitude data measuring instrument, the converted acceleration is subjected to integral operation to obtain the displacement of each step and a walking track is obtained by the walking track acquisition module according to the displacement of each step and course data in the attitude data so as to position the human body. According to the utility model, the walking displacement of a human body is the actual step length, more accurate human body positioning can be obtained based on the course data, and the technical problem of the prior art is well solved.
Description
Technical field
The utility model relates to micromechanics (MEMS) field of locating technology, relates in particular to a kind of walking positioning equipment.
Background technology
Along with the development of location technology, the application of person location more and more widely.Mention the location of target object, what people expected usually is the GPS location technology, but except that military GPS locating accuracy is higher, and civilian GPS locatees that often error range is bigger, can not satisfy the practical application needs.In addition, GPS location depends on satellite-signal, and in that to locate satellite-signal such as mine, tunnel, basement etc. relatively poor, GPS almost can not play a role, and has hindered the widespread use of location technology.There are these shortcomings just because of GPS; Some assistant positioning systems have appearred on the market; As use auxiliary signals such as D-GPS, mobile phone signal, WiFi, Zigbee, RFID and UWB to position; Yet the major defect of these modes is: need expend huge fund a large amount of auxiliary infrastructures is installed, the installation site of locating effect gene basis facility, the difference of building structure and there are differences.At present; A kind of simple and convenient, personal location technology with low cost are to adopt electronic pedometer; This device interior is equipped with the course instrument of accelerometer and similar compass, and accelerometer is used for measuring the step number of person walks according to advance process starting and the acceleration change in the step that falls of people's walking, and the average stride that will know in advance then calculates the change in displacement in per step as fixing input; Combine the course data of course instrument to draw people's walking track again, thereby realize the location.But; Paces length (stride) relative fixed of the each input of this method; And in fact step size vary with each individual, because of the time different, even the stride of same individual under different state also maybe be different, thereby use this technology can't realize the accurate location of the person.
The utility model content
In view of this; The utility model provides a kind of walking positioning equipment; Utilize the acceleration of walking and the relation between the displacement, after recording acceleration, accekeration is carried out the displacement that per step is tried to achieve in integral operation, combine course data again to realize the accurate location of the person.
The walking positioning equipment that the utility model provides comprises:
Accelerograph, attitude data measuring instrument, coordinate transferring, integral operation module and walking track acquisition module; Accelerograph and attitude data measuring instrument are electrically connected with coordinate transferring respectively; Coordinate transferring is electrically connected with the integral operation module; The integral operation module is electrically connected with walking track acquisition module, wherein:
Said accelerograph is used for measuring the acceleration that the human body foot moves at local coordinate system, and said local coordinate system and human body foot Joint are the benchmark of describing the motion of human body foot;
Said attitude data measuring instrument is used for the attitude data at global coordinate system measurement human body foot;
Said coordinate transferring is used for according to said attitude data the acceleration of said measurement being transformed into global coordinate system, and said global coordinate system is for describing the benchmark of human body foot athletic posture and movement locus;
Said integral operation module is used for carrying out integral operation to obtain the displacement in per step at the acceleration of time period in step internal conversion to global coordinate system of starting to walk to;
Said walking track acquisition module obtains the human locomotion track to realize the human body location according to the displacement in the course data in the attitude data of human body foot and said per step.
Preferably; Said equipment further comprises the acceleration correction module; Coordinate transferring is electrically connected respectively at accelerograph and attitude data measuring instrument through this correcting module, and then: said coordinate transferring also is used for acceleration of gravity is transformed into said local coordinate system; Said acceleration correction module deducts the acceleration of gravity that is transformed into local coordinate system with the acceleration of said measurement and obtains revising acceleration, is transformed into global coordinate system and carries out integral operation so that should revise acceleration.
Preferably; Said integral operation module comprises gait judgement submodule and integral operation submodule; This two submodule is electrically connected, the said gait step state that comprises starting, moves one's steps and fall, and then: said attitude data measuring instrument also is used to measure the angular velocity that the human body foot moves; Said gait judges whether the angular velocity that submodule judges that said attitude data measuring instrument is measured equals in the pre-set threshold value, if, then go on foot appearance for starting to walk or falling the step, stop to trigger integral operation; If not, then gait triggers the integral operation submodule for moving one's steps.
Further preferably; Said equipment further comprises the error concealment submodule; The integral operation submodule is electrically connected through this module and gait judgement submodule, and this module is used to trigger the integral operation submodule acceleration is carried out integral operation with the accumulative speed in the time period in step that obtains starting to walk to; Said accumulative speed is obtained the speed average error divided by the integration total degree in the integration circulation; Use at next integration circulation time and to carry out the velocity amplitude that each integral operation obtains by acceleration and deduct said speed average error, the integral operation submodule carries out integral operation to obtain every step displacement amount to the result that this deducts after the speed average error; Said integration circulation is the integral process in the time period in step of starting to walk to.
The utility model is through measuring the acceleration in the human locomotion process; And in global coordinate system, this acceleration is carried out integral operation; Thereby obtain the displacement in per step, combine the attitude course data of human body foot to obtain the movement locus of human locomotion then, thereby realize the human locomotion location.Compared with prior art, the stride of the human locomotion of the utility model no longer is a fixed value, but actual paces length can obtain accurate more human body location through course data, has solved the technical matters of prior art preferably.
Description of drawings
Fig. 1 is first workflow diagram of the embodiment of the utility model;
Fig. 2 is the reference frame synoptic diagram of second workflow of the embodiment of the utility model;
Fig. 3 is the 3rd workflow diagram of the embodiment of the utility model;
Fig. 4 is the acceleration correction synoptic diagram of the 3rd workflow of the embodiment of the utility model;
Fig. 5 is that the gait of the 4th workflow of the embodiment of the utility model is judged synoptic diagram;
Fig. 6 is the composition frame chart of the embodiment of the utility model.
Embodiment
The main thought of the utility model is: the acceleration of the human body foot motion that records under the local coordinate system is transformed in the global coordinate system; Through carrying out integral operation and obtain the walking displacement to being transformed into acceleration under the global coordinate system; And the course data that combines the human body foot obtains people's walking track, thereby realizes person location.
For making those skilled in the art can further understand the characteristic and the technology contents of the utility model,, the technical scheme of the utility model is described in detail below in conjunction with accompanying drawing and embodiment.
First workflow
When a people through manner of walking when a known starting point varies to certain terminal point; If realize the human body location; Then should know human body displacement that moves and the direction that moves at least, can describe out the movement locus of human body, thereby realize person location according to these two data.As previously mentioned, obtain displacement, realize the method for location through multiply by average stride with the step number that moves, its technique effect varies with each individual, because of the time different, can not locate the movement locus of human body exactly.The embodiment of the utility model has provided a kind of human locomotion positioning equipment, efficiently solves above-mentioned technical matters.Referring to accompanying drawing 1, a kind of workflow of the apparatus embodiments of the utility model comprises:
Step S101: in local coordinate system, measure the acceleration of human body foot motion, said local coordinate system is the motion reference coordinate system, and this coordinate system and human body foot Joint are used for as the benchmark of describing the motion of human body foot.
Realization human body location; At first need choose coordinate system; Coordinate system is portrayal and the platform of describing the target object state, although how to choose the motion state that coordinate system does not change object particularly, the suitable coordinate system of choosing helps realizing intuitively, quickly and easily object localization.Generally speaking, describe the movement locus of object and need choose two coordinate systems, one is to decide the ginseng coordinate system, and one is the motion reference coordinate system, and the former is static with respect to the observer, is used to appear the movement locus of moving object; The latter is static with respect to moving object itself, and promptly this coordinate system anchors in the moving object, and moving coordinate system promptly is the movement locus of moving object with respect to the variation of joining coordinate system surely.After choosing coordinate system; Carry out DATA REASONING and need surveying instrument be placed on the appropriate location with collection; Since best embody during human locomotion the people change in displacement be people's foot; Therefore surveying instrument can be arranged on the footwear or be bundled on people's the foot, for be placed on foot specifically where this workflow is not made particular determination, this can handle according to actual conditions flexibly.
Step S102: the attitude data of in global coordinate system, measuring the human body foot; According to said attitude data the acceleration of said measurement is transformed into global coordinate system; Said global coordinate system is used for as the benchmark of describing human body foot athletic posture and movement locus for joining coordinate system surely.
In people's gait processes, the attitude of foot is fixing, possibly neglect youngster and upward neglect under the youngster; In global coordinate system, form the angle of pitch thus; This angle of pitch is that local coordinate system rotates the angle that forms around global coordinate system, forms roll angle thereby also possibly tilt to roll, and also possibly vacillate now to the left, now to the right causes the course to change; Therefore; People's step attitude can be portrayed through above-mentioned three angle values, when measuring, can use the angular velocity appearance to measure, and modal angular velocity instrument is a gyroscope; The attitude data that obtains through gyroscope survey is to be used to realize that first acceleration is tied to the conversion of global coordinate system by local coordinate; The different attitudes of foot make local coordinate be tied to each concrete conversion tolerance difference constantly of global coordinate system; But common this conversion can realize through transition matrix; Since during person walks walking forward, the transformational relation between two kinds of coordinate systems depends primarily on the angle of pitch and roll angle, and the variation of course angle in one strides of foot motion is close to and can ignores; Therefore, transition matrix mainly is a matrix about the angle of pitch and roll angle.
Step S103: to carrying out the displacement that integral operation obtains per step at the acceleration of time period in step internal conversion of starting to walk to global coordinate system.
People's a gait processes is feasible to be divided into three gaits: start to walk, move one's steps and fall the step, the acceleration change in each stage is different, from starting to walk to the stage of moving one's steps; Speed increases sharply by zero; Acceleration becomes greatly suddenly, and mild in translation step stage speed, acceleration change is less; From moving one's steps to the step section, rapid variation takes place again in acceleration.Because the numerical value of the different acceleration constantly of different phase is different, therefore ask the displacement of calculating paces need carry out integration stage by stage, the time interval of integration divides more little, and the result is accurate more; Integration interval is big more, and the result is rough more, and integration interval depends on SF; The frequency that the acceleration analysis instrument is measured acceleration is high more, and the SI is more little, and integration interval is just more little; This shows, improve precision if desired, can increase SF; Carry out an integral operation by the acceleration that measures and to obtain speed, carry out an integration again and can obtain displacement,, therefore also can directly carry out double integral to obtain displacement acceleration owing to be that the time is carried out line integral all; Being formulated above-mentioned integral process is:
S in the formula
jThe displacement in j step, a
iBe integration section [t
I-1, t
i] interior acceleration, n is from starting moment point T
0To the step moment point T that falls
nThe circulation of integration in the integration total degree.
Step S104: the displacement according to the course data in the attitude data of human body foot and said per step obtains the walking track to realize the human body location.
People's movement locus is made up of the displacement in per step; After obtaining each step displacement through above-mentioned steps; The course angle that records when combine measuring the attitude data of human body foot again; Can obtain the track of human locomotion, thereby add that on known starting point basis the walking track can obtain the coordinate in the final position that the people moves to, realize person location thus.
This workflow is measured the acceleration in the human locomotion process in local coordinate system; Then this acceleration is transformed in the global coordinate system; And in global coordinate system, this acceleration is carried out the double integral computing; Thereby obtain the displacement in per step, combine the attitude course data of human body foot to obtain the movement locus of human locomotion then, thereby realize the human locomotion location.Compared with prior art, the stride of human locomotion no longer is a fixed value in this workflow, but actual paces length, can obtain describing more accurately people's movement locus through course data, has solved the technical matters of prior art preferably.
Second workflow
Though mentioned the track that can not change human locomotion of choosing of coordinate system in the above-mentioned workflow,, suitably choose coordinate system and can play convenient observation, simplify the effect of calculating, raising the efficiency.This workflow is preferably set up coordinate system according to following method, referring to accompanying drawing 2.
Local coordinate system anchors at the human foot; The true origin of this coordinate system is a human body foot barycenter; With vertical people's walking direction and the direction of pointing to the right side is the X axle, is the Y axle with people's walking direction, is the coordinate system of Z axle with the direction of vertical OXY plane points upwards; Global coordinate system is a true origin with people's walking starting point, and pointing to east with level is the X axle, is the Y axle with horizontal energized north, and pointing to zenith with vertical ground is the coordinate system of Z axle.
In fact the selection of coordinate system can also have other multiple modes; True origin such as local coordinate system not necessarily must be at human body foot barycenter; Can also be other location points; Even can be arranged on a certain position of footwear, because these points all can be represented the motion state of human body paces, thereby how to choose the realization that true origin does not influence the utility model purpose of the utility model.Likewise; The walking starting point that the true origin of global coordinate system also is not limited to the pedestrian is an initial point; Can also be arranged on other points of being convenient to observer's observation; As long as the coordinate figure of prevision human locomotion starting point still can calculate the coordinate figure of human body terminal point position after obtaining displacement and course data in advance, thereby realizes the location.
After setting up the coordinate system shown in the accompanying drawing 2 according to this workflow; The transformational relation of two coordinate systems promptly is fixed up; Can measure three acceleration on axially owing to measure the acceleration instrument among the embodiment of the utility model, therefore the conversion between two coordinate systems can be passed through transition matrix (RGL) and realizes as intermediary.Transition matrix (RGL) is according to as shown in the formula sub-definite:
θ in the formula,
are respectively the angle of pitch and the roll angle of human body foot motion.
In the time need the physical quantity in the global coordinate system being transformed in the local coordinate system, with amount in the global coordinate system and above-mentioned transition matrix (RGL) multiply each other can realize the conversion; In the time need the physical quantity in the local coordinate system being transformed in the global coordinate system, with the transposition (RLG=RGL of amount in the local coordinate system and above-mentioned transition matrix
T) multiply each other and can realize conversion.
The 3rd workflow
When above-mentioned workflow is measured the acceleration of human body foot motion, do not consider acceleration of gravity.And in fact; Because the ubiquity of acceleration of gravity; The measured acceleration of surveying instrument that is arranged on foot can not truly reflect the acceleration of human body foot motion; If accekeration is inaccurate, deviation must take place in the displacement of being calculated by accelerometer, causes accurately locating the final position of human body.In order more accurately to realize the human body location, this workflow provides a kind of method of eliminating the acceleration of gravity influence.This workflow is compared with first workflow, and except that the correction step that increases acceleration, all the other steps are all identical.Referring to accompanying drawing 3, this workflow increases the step that is described below between the S101 of first workflow and S102 step, and the sequence number of all the other steps is done corresponding adjustment.
Step S302: acceleration of gravity is transformed into said local coordinate system.
The acceleration of gravity ubiquity, it does not change along with the variation of human body foot motion state, and therefore, acceleration of gravity is the physical quantity in global coordinate system; In order to carry out computing with the acceleration that measures (first acceleration); Must two physical quantitys be placed under the identical reference frame; This workflow is selected acceleration of gravity is transformed into local coordinate system, and concrete conversion method can adopt the described method of second workflow to realize conversion.
Step S303: the acceleration with said measurement deducts the said acceleration of gravity that is transformed into local coordinate system, obtains revising acceleration, is transformed into global coordinate system and carries out integral operation to obtain displacement so that should revise acceleration.
Measure the acceleration analysis instrument of human body foot and can measure three axial acceleration; After above-mentioned acceleration of gravity is transformed into local coordinate system; Also produce component at three on axially, each accekeration on axially is the true accekeration of human body foot and the stack of gravity acceleration value, therefore; For reducing or eliminate the influence of acceleration of gravity, only need to deduct the component of acceleration of gravity on this is axial and can obtain the true angular velocity value with the component of measurement acceleration on certain is axial.Referring to accompanying drawing 4, following with formulae express:
a′＝a-sinθ×g
θ is the angle of pitch of human body foot in the formula, the total acceleration (acceleration of measurement) that a surveys for the acceleration analysis instrument, and a ' is true acceleration.Three axially all calculate true acceleration according to aforesaid way after, these accekerations are transformed to again carry out integral operation in the global coordinate system.
This workflow is revised the acceleration value that the acceleration analysis instrument records; Reduce or eliminated the influence of acceleration of gravity; The acceleration that adopts when making integral operation reflects the motion of human body foot as far as possible truly, thereby obtains reliable more displacement to realize the accurate location of human body.
The 4th workflow
People's walking track combines course data to obtain by every step displacement amount, and the displacement in per step obtains through the double integral to the walking acceleration, and an integration round-robin starting point is that human body is in the starting gait, and terminal point is that human body is in step by step in the attitude.Though can think that in theory the speed of human body paces when starting to walk or falling to going on foot state is zero, in practical application, the speed of people's foot when starting to walk or falling to going on foot may not be zero; This depends on people's multiple factor such as the speed of travel, walking posture, surface state, such as, the people walks on Shamian Island; Because Shamian Island is fluffy sparse; The speed of foot can not reduce to zero immediately when foot touched Shamian Island, but had a buffering course, if this section buffering course is proceeded integral operation; " cutting surplus " error (Δ S) appears in the displacement that will cause obtaining, and the result who obtains thus can not reflect the track of people's walking truly.In starting or when falling to going on foot under the non-vanishing situation of foot speed, should stop integral operation.For this reason, need to judge the starting and the step that falls the time boundary point with the integration terminal of control integral operation.Referring to accompanying drawing 5, this workflow provide a kind of judge start to walk to the method for time period in step, as long as judged the attitude of walking, can be clearly should the time period the time start-stop, thereby the interval of clear and definite integral operation.This method comprises:
Measure the angular velocity that the human body foot moves, judge whether said angular velocity equals pre-set threshold value, if then the human locomotion attitude is judged to be starting or falls the step this starting or the beginning or end of the place moment in step that fall as the time period in step of starting to walk to.
Judge starting constantly with fall the step constantly after, interval that can clear and definite integral operation in the time of before the human locomotion attitude is in starting or after the step that falls, promptly stops the acceleration of said measurement is carried out the double integral computing to obtain displacement; In the human locomotion attitude is in the time of moving one's steps of starting to walk between the step, then carry out double integral computing to the acceleration of said measurement to obtain displacement; The obtaining of angular velocity of human body foot motion can obtain in several ways; A kind of method relatively more commonly used is to measure through aforesaid gyroscope; The attitude data (angle of pitch, roll angle, course angle) that gyroscope can be used for measuring the human body foot is mentioned in the front; In fact, the original date that gyroscope survey obtains is three instantaneous angular velocities on axially, this angular velocity is carried out integration promptly obtain attitude data; Therefore, the angular velocity of human body foot motion can obtain through the instantaneous angular velocity of record gyroscope survey; Obtain the movement velocity of human body foot through this mode after; This speed and pre-set threshold value are carried out matching judgment; The pre-set threshold value here can be confirmed according to actual after the speed of the attitude of account of human walking, walking and road surface situation; Also can obtain through the test of many times optimized choice: the angular velocity of foot motion during the continuous recording walking, the magnitude of angular velocity that record is obtained plots the angular velocity curve, and this curve is the curve that crest, trough replace; Get the magnitude of angular velocity that curve is in trough and average, this mean value is pre-set threshold value; For increasing the accuracy and the validity of pre-set threshold value, can increase step number, such as 10 steps of record walking, 100 steps, even the angular velocity of multistep period of the day from 11 p.m. to 1 a.m foot more, the mean value of asking for trough then is as pre-set threshold value.
The angular velocity that in this workflow the foot that measures is moved directly is used for judging starts to walk the step state; In fact; Except that this situation; The utility model can also carry out three magnitude of angular velocities on axially to be used to judge gait after the certain calculation, to avoid the inaccurate of indivedual velocity amplitudes itself.This mathematical operation can be to ask arithmetical mean or geometric mean, perhaps asks variance and mean square deviation.
The starting and the step state that falls when this workflow is judged person walks through detecting make that the scope of integration is more accurate, have deducted the velocity inertial that produces after landing, and help more accurately realizing the human body location.
The 5th workflow
Practical application; Measure acceleration and often adopt accelerometer; And accelerometer itself is vulnerable to the acceleration of the process of moving ahead and the influence of the slight irregular oscillation of human body foot; Cause the acceleration of accelerometer measures to be inaccurate thus, this error almost all exists in each integration circulation, and effect is suitable.Therefore; In order to eliminate this " intrinsic " error of accelerometer; This workflow is through first integration round-robin error of record; Then this error is divided the each integral process in the integration circulation, when next integration circulation is carried out integration to the acceleration of measuring, deduct this inherent error earlier at every turn and carry out integral operation again, thereby realize reducing or eliminating of error.This workflow provides reduces or the method for eliminating accelerometer this " intrinsic " error comprises:
The first step: acceleration is carried out integral operation with the accumulative total speed in the time period in step that obtains starting to walk to, and this speed is residual velocity; In a last workflow, narrated attitude how to judge human locomotion; The purpose of judging this attitude is to determine integral operation to ask for the beginning and ending time of displacement; The human locomotion attitude begins in the time period between the starting constantly of next paces, should stop in the hope of getting the integral operation that displacement is a purpose from the step that falls constantly; But, because reasons such as " intrinsic " factor in the above-mentioned measurement acceleration process and road surface situation cause falling also having " residual velocity " after the step; This residual velocity can form through in the time period in step of starting to walk to, at every turn acceleration being carried out the speed accumulation that integration obtains, and is formulated as:
V in the formula
jThe residual velocity in j step, a
iBe integration section [t
I-1, t
i] interior acceleration, n is from starting moment point T
0To the step moment point T that falls
nThe circulation of integration in the integration total degree.
Second step: said residual velocity is obtained the speed average error divided by the integration total degree in the integration circulation; Use at next integration circulation time and to carry out the velocity amplitude that integral operation obtains by acceleration and deduct said speed average error, so that this result who deducts the speed average error is carried out integral operation to obtain every step displacement amount; Said integration circulation is the integral process in the time period in step of starting to walk to; Be formulated as:
S in the formula
J+1The displacement in j+1 step, a
J+1, iBe j+1 step integration inherent integration section [t that circulates
I-1, t
i] on acceleration, n is the integration total degree in the circulation of integration.
This workflow has been considered the accuracy problem of accelerometer measures; Obtain residual velocity through in an integration circulation, acceleration being carried out integration; Then this residual velocity is used in next integration cyclic process the integral result of accelerometer being revised; Thereby make the accelerometer of measuring become accurately, reduce or eliminated the problem of cumulative errors.
Embodiment
Aforesaid workflow all is to describe the principle of work and the course of work of the utility model equipment, and correspondingly, the utility model provides a kind of embodiment of walking positioning equipment.Referring to accompanying drawing 6; This equipment 600 comprises: accelerograph 601, attitude data measuring instrument 602, coordinate transferring 603, integral operation module 604 and walking track acquisition module 605; Wherein: accelerograph 601, be used for the acceleration when local coordinate system is measured the motion of human body foot, said local coordinate system is the motion reference coordinate system; This coordinate system and human body foot Joint are used for as the benchmark of describing the motion of human body foot; Attitude data measurement module 602 is used for the attitude data at global coordinate system measurement human body foot; Coordinate transferring 603 is used for according to said attitude data the acceleration of said measurement being transformed into global coordinate system, and said global coordinate system is used for as the benchmark of describing human body foot athletic posture and movement locus for joining coordinate system surely; Integral operation module 604 is used for carrying out integral operation to obtain the displacement in per step at the acceleration of time period in step internal conversion to global coordinate system of starting to walk to; Walking track acquisition module 605 is used for according to the course data of the attitude data of human body foot and track that the displacement in said per step obtains walking to realize the human body location.
The course of work of present embodiment is: accelerograph 601 measures acceleration in local coordinate system; Attitude data measurement module 602 measures the athletic posture data of human body foot in global coordinate system; Calling coordinate transferring 603 then is transformed into the acceleration of measuring in the global coordinate system; And the data after will changing are input to integral operation module 604; Accomplish the integral operation to the acceleration of said measurement by this module, thereby obtain the displacement in per step, the course data that combines attitude data measurement module 602 to measure by walking track acquisition module 605 is then obtained the walking track to realize the human body location.
Because the ubiquity of acceleration of gravity; The acceleration that accelerograph measures in the foregoing description; The acceleration that in fact can not reflect the motion of human body foot fully truly; Therefore, for obtaining the accurate location of human locomotion, be necessary the above-mentioned accekeration that measures is revised.Thus; Present embodiment can also comprise acceleration correction module 606; This module is used for before the acceleration that local coordinate system is measured is transformed into global coordinate system, calling said coordinate transferring acceleration of gravity is transformed into said local coordinate system; And deduct the said acceleration of gravity that is transformed into local coordinate system with the acceleration of said measurement, reduced or eliminated the correction acceleration behind the gravity to be transformed into global coordinate system and to carry out integral operation so that should revise acceleration.
Need carry out double integral (or twice one time integration) to acceleration in the present embodiment; The starting point of this integral operation, terminal point be the human body paces starting with fall the step, practical application, the speed that starts to walk when falling to going on foot maybe and non-vanishing; The existence of acceleration is still arranged; Be actually unnecessary and carry out the displacement that integral operation draws this moment, therefore, be necessary to eliminate this point " displacement ".For realizing this purpose; The integral operation module 604 of the described equipment of present embodiment can comprise gait judgement submodule 6041 and integral operation submodule 6042; This module is used for after calling said attitude data measurement module and obtaining the angular velocity of human body foot, judging whether said angular velocity equals pre-set threshold value, if; Then will go on foot appearance and be judged to be starting or fall the step, and stop to call the integral operation submodule acceleration is carried out integral operation; If, then gait is not judged to be and moves one's steps, and call the integral operation submodule acceleration is carried out integral operation to obtain every step displacement amount.
The acceleration instrument of measuring acceleration in the present embodiment often vibrates, and causes the inaccurate of accelerometer measures, for this reason, needs to eliminate this " intrinsic " error of accelerometer.Therefore; The integral operation module 604 of present embodiment can also comprise error concealment submodule 6043; This module is used to call the integral operation submodule acceleration is carried out integral operation with the accumulative speed in the time period in step that obtains starting to walk to, and this speed is residual velocity; Said residual velocity is obtained the speed average error divided by the integration total degree in the integration circulation; Use at next integration circulation time and to carry out the velocity amplitude that each integral operation obtains by acceleration and deduct said speed average error, so that the integral operation submodule carries out integral operation to obtain every step displacement amount to the result that this deducts after the speed average error; Said integration circulation is the integral process in the time period in step of starting to walk to.
It should be noted that: the foregoing description of the utility model has only been narrated walking localization method and the equipment with artificial research object; In fact; The technical scheme of the utility model is not limited in people's scope, be suitable for; For other animals,, all can adopt the described method and apparatus of the utility model embodiment to realize their location such as cat, dog, lion etc.In the same way, as long as target object (research object) is to move with the mode that " alternately property " moves ahead, the utility model is all applicable, and " alternative expression " here refers to the cyclicity moving process with " step-starting that starts to walk-move one's steps-fall-".
The above is merely the preferred embodiment of the utility model, and is in order to restriction the utility model, not all within the spirit and principle of the utility model, any modification of being done, is equal to replacement, improvement etc., all should be included within the protection domain of utility model.
Claims (4)
1. walking positioning equipment; It is characterized in that; This equipment comprises: accelerograph, attitude data measuring instrument, coordinate transferring, integral operation module and walking track acquisition module, and accelerograph and attitude data measuring instrument are electrically connected with coordinate transferring respectively, and coordinate transferring is electrically connected with the integral operation module; The integral operation module is electrically connected with walking track acquisition module, wherein:
Said accelerograph is used for measuring the acceleration that the human body foot moves at local coordinate system, and said local coordinate system and human body foot Joint are the benchmark of describing the motion of human body foot;
Said attitude data measuring instrument is used for the attitude data at global coordinate system measurement human body foot;
Said coordinate transferring is used for according to said attitude data the acceleration of said measurement being transformed into global coordinate system, and said global coordinate system is for describing the benchmark of human body foot athletic posture and movement locus;
Said integral operation module is used for carrying out integral operation to obtain the displacement in per step at the acceleration of time period in step internal conversion to global coordinate system of starting to walk to;
Said walking track acquisition module obtains the walking track to realize the human body location according to the displacement in the course data in the attitude data of human body foot and said per step.
2. equipment according to claim 1 is characterized in that said equipment further comprises the acceleration correction module, and coordinate transferring is electrically connected respectively at accelerograph and attitude data measuring instrument through this correcting module, then:
Said coordinate transferring also is used for acceleration of gravity is transformed into said local coordinate system; Said acceleration correction module deducts the acceleration of gravity that is transformed into local coordinate system with the acceleration of said measurement and obtains revising acceleration, is transformed into global coordinate system and carries out integral operation so that should revise acceleration.
3. equipment according to claim 1 is characterized in that, said integral operation module comprises that gait judges submodule and integral operation submodule, this two submodules electrical connection, and the said gait step state that comprises starting, moves one's steps and fall, then:
Said attitude data measuring instrument also is used to measure the angular velocity of human body foot motion; Said gait judges whether the angular velocity that submodule judges that said attitude data measuring instrument is measured equals pre-set threshold value, if then gait is starting or falls the step, and stops to trigger the integral operation submodule; If not, then gait triggers the integral operation submodule for moving one's steps.
4. equipment according to claim 3; It is characterized in that; Said integral operation module further comprises the error concealment submodule; The integral operation submodule is electrically connected through this module and gait judgement submodule, and this module is used to trigger the integral operation submodule acceleration is carried out integral operation with the accumulative speed in the time period in step that obtains starting to walk to; Said accumulative speed is obtained the speed average error divided by the integration total degree in the integration circulation; Use at next integration circulation time and to carry out the velocity amplitude that each integral operation obtains by acceleration and deduct said speed average error, the integral operation submodule deducts result after the speed average error to this to carry out integral operation and obtains every step displacement amount; Said integration circulation is the integral process in the time period in step of starting to walk to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202318735U CN202304842U (en) | 2011-07-01 | 2011-07-01 | Walking positioning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202318735U CN202304842U (en) | 2011-07-01 | 2011-07-01 | Walking positioning equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202304842U true CN202304842U (en) | 2012-07-04 |
Family
ID=46373721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202318735U Expired - Fee Related CN202304842U (en) | 2011-07-01 | 2011-07-01 | Walking positioning equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202304842U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076023A (en) * | 2013-01-09 | 2013-05-01 | 上海大唐移动通信设备有限公司 | Method and device for calculating step |
| CN103822637A (en) * | 2014-03-14 | 2014-05-28 | 北京百度网讯科技有限公司 | Method and system for identifying missing walking facilities |
| TWI468646B (en) * | 2012-07-11 | 2015-01-11 | Univ Nat Cheng Kung | Calculation method of step distance of computing device |
| CN107644243A (en) * | 2017-10-26 | 2018-01-30 | 张斌 | The Coordinate calculation method and system of beformable body object gesture |
| CN108668219A (en) * | 2017-03-28 | 2018-10-16 | 卡西欧计算机株式会社 | Electronic equipment, position determination system, location determining method and storage medium |
| CN111359194A (en) * | 2020-03-18 | 2020-07-03 | 华科智谷(上海)科技发展有限公司 | Walking feature dimension reduction method for three-dimensional behavior space of humanoid intelligent body |
-
2011
- 2011-07-01 CN CN2011202318735U patent/CN202304842U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI468646B (en) * | 2012-07-11 | 2015-01-11 | Univ Nat Cheng Kung | Calculation method of step distance of computing device |
| CN103076023A (en) * | 2013-01-09 | 2013-05-01 | 上海大唐移动通信设备有限公司 | Method and device for calculating step |
| CN103822637A (en) * | 2014-03-14 | 2014-05-28 | 北京百度网讯科技有限公司 | Method and system for identifying missing walking facilities |
| CN108668219A (en) * | 2017-03-28 | 2018-10-16 | 卡西欧计算机株式会社 | Electronic equipment, position determination system, location determining method and storage medium |
| CN108668219B (en) * | 2017-03-28 | 2022-03-01 | 卡西欧计算机株式会社 | Electronic device, position determination system, position determination method, and storage medium |
| CN107644243A (en) * | 2017-10-26 | 2018-01-30 | 张斌 | The Coordinate calculation method and system of beformable body object gesture |
| CN107644243B (en) * | 2017-10-26 | 2023-08-11 | 张斌 | Coordinate calculation method and system for soft object posture |
| CN111359194A (en) * | 2020-03-18 | 2020-07-03 | 华科智谷(上海)科技发展有限公司 | Walking feature dimension reduction method for three-dimensional behavior space of humanoid intelligent body |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102278988B (en) | Walking positioning method and equipment | |
| CN202304842U (en) | Walking positioning equipment | |
| CN102401658B (en) | Systems and methods for computing vertical position | |
| CN105509738B (en) | Vehicle positioning orientation method based on inertial navigation/Doppler radar combination | |
| Yi et al. | Recent research and applications of GPS‐based monitoring technology for high‐rise structures | |
| CN103674034B (en) | Multi-beam test the speed range finding revise robust navigation method | |
| US5574649A (en) | Position-locating method and apparatus including corrections for elevational changes | |
| CN103235328B (en) | GNSS (global navigation satellite system) and MEMS (micro-electromechanical systems) integrated navigation method | |
| CN102116628B (en) | High-precision navigation method for landed or attached deep sky celestial body detector | |
| CN102353383B (en) | Method for step counting and mileage reckoning based on single-axis gyroscope | |
| CN104121905A (en) | Course angle obtaining method based on inertial sensor | |
| CN104019828A (en) | On-line calibration method for lever arm effect error of inertial navigation system in high dynamic environment | |
| CN102768361A (en) | GPS/INS combined positioning method based on genetic particle filtering and fuzzy neural network | |
| CN111637888B (en) | Tunneling machine positioning method and system based on inertial navigation and laser radar single-point distance measurement | |
| CN105806340A (en) | Self-adaptive zero-speed update algorithm based on window smoothing | |
| CN103047995A (en) | GPS (global positioning system) terminal mileage statistical method based on satellite positioning technology | |
| CN102589509A (en) | Agricultural machine working area measuring method | |
| CN104216405A (en) | Navigation method and equipment for field robot | |
| CN103955005A (en) | Rocket sled orbit gravity real-time measuring method | |
| CN101038170A (en) | Method for online estimating inertia/satellite combined guidance system data asynchronous time | |
| CN107449392A (en) | Slope deforming measuring method based on Inertial Measurement Unit | |
| CN112977603B (en) | Method and device for controlling motor, agricultural machine and computer readable storage medium | |
| CN102323606B (en) | Positioning method for satellite navigation system under incomplete condition | |
| US20200003557A1 (en) | Road grade measurement system for moving vehicles | |
| CN113236363A (en) | Mining equipment navigation positioning method, system, equipment and readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120704 Termination date: 20180701 |