WO2019037349A1

WO2019037349A1 - Motion trajectory generating method and apparatus, and wearable device

Info

Publication number: WO2019037349A1
Application number: PCT/CN2017/116412
Authority: WO
Inventors: 王诚
Original assignee: 上海斐讯数据通信技术有限公司
Priority date: 2017-08-22
Filing date: 2017-12-15
Publication date: 2019-02-28
Also published as: CN107462260A

Abstract

A motion trajectory generating method comprises: using a motion sensor to acquire motion sensing data of a user; obtaining, according to the acquired motion sensing data, motion coordinate position data of the user; determining whether a GPS positioning function is already enabled so as to obtain a current position of the user, and if so, obtaining, according to current coordinate position data of the user respectively obtained by means of the motion sensor and GPS positioning, coordinate correction data; and if not, correcting, according to the coordinate correction data, the motion coordinate position data obtained by using the motion sensor to generate a motion trajectory of the user positioned by the motion sensor. A motion trajectory generating apparatus and a wearable device are provided. The motion trajectory generating device comprises a sensor positioning module, a GPS positioning module, a calculation correction module, a trajectory generating module, and a control module. The invention solves the problem that a motion trajectory of a user will not be available if GPS positioning is not completed.

Description

一种运动轨迹生成方法、装置及可穿戴设备Method and device for generating motion track and wearable device

技术领域Technical field

本发明涉及通信技术领域，尤其涉及一种运动轨迹生成方法、装置及可穿戴设备。The present invention relates to the field of communications technologies, and in particular, to a method, an apparatus, and a wearable device for generating a motion track.

背景技术Background technique

目前，智能手机、运动手环、手表等可以给用户提供很多运动信息，给予使用者运动指导和信息记录。其中跑步轨迹就是一个非常重要的信息，它记录了用户在跑步模式下运动轨迹、速度和距离，这些数据可以进行运动后分析和分享。At present, smart phones, sports bracelets, watches, etc. can provide users with a lot of sports information, giving users motion guidance and information recording. The running track is a very important piece of information, which records the user's movement trajectory, speed and distance in the running mode, which can be analyzed and shared after exercise.

以智能手环为例，当佩戴者操作智能手环进入跑步模式后，软件会打开GPS定位功能，开始定位，但由于受客观因素影响，GPS芯片定位功能不能很快完成，需要一定的时间，一般需要1分钟左右。Taking the smart bracelet as an example, when the wearer enters the running mode by the smart bracelet, the software will turn on the GPS positioning function to start positioning, but due to the influence of objective factors, the GPS chip positioning function cannot be completed quickly, and it takes a certain time. It usually takes about 1 minute.

市面上已有的设备，针对GPS跑步模式下需要定位时间的问题，存在2种做法：一种是在设备没有完成定位前，跑步模式不真正开始，一直在GPS定位模式，要求佩戴者不能开始跑步，不然数据不准确；一种是进入运动模式后即可允许佩戴者跑步，但在没有定位完成前没有运动轨迹，直到定位完成，才会有运动轨迹。There are two methods in the market for the equipment that needs to be positioned in the GPS running mode. One is that the running mode does not start before the device is not positioned, and the GPS positioning mode is always required, and the wearer cannot start. Running, otherwise the data is not accurate; one is to allow the wearer to run after entering the sport mode, but there is no motion track before the positioning is completed, until the positioning is completed, there will be motion track.

市面上可穿戴设备2种处理方法，都存在不合理之处。第一种在没有定位完成前不能真正开始跑步，会让佩戴者焦急的等待定位完成，浪费不必要的时间；第二种方法直接会导致部分运动轨迹缺失，运动信息统计不完整。There are two unreasonable treatment methods for wearable devices on the market. The first type can't really start running before the positioning is completed, which will make the wearer wait anxiously for positioning and waste unnecessary time. The second method will directly lead to the lack of some motion trajectories and the incomplete motion information.

发明内容Summary of the invention

本发明提供一种运动轨迹生成方法、装置及可穿戴设备，解决了现有技术中GPS定位未完成前用户运动轨迹缺失的技术问题，完善了用户整个运动过程的运动轨迹。The invention provides a method, a device and a wearable device for generating a motion trajectory, which solves the technical problem that the user's motion trajectory is missing before the GPS positioning is completed, and improves the motion trajectory of the user during the whole motion process.

本发明公开了一种运动轨迹生成方法，包括：The invention discloses a motion trajectory generating method, which comprises:

S100通过运动传感器，采集用户的运动传感数据；The S100 collects motion sensing data of the user through the motion sensor;

S200根据采集的所述运动传感数据，获取所述用户的运动坐标位置数据；S200: acquiring motion coordinate position data of the user according to the collected motion sensing data;

S300判断是否已开启GPS定位功能并通过所述GPS完成用户当前位置的定位，若是，进入步骤S400，否则返回步骤S100；S300 determines whether the GPS positioning function has been turned on and the positioning of the current location of the user is completed by the GPS, and if yes, proceeds to step S400, otherwise returns to step S100;

S400根据通过所述运动传感器、GPS定位分别获取的用户的当前坐标位置数据，获取坐标修正数据；S400 acquires coordinate correction data according to current coordinate position data of the user respectively acquired by the motion sensor and GPS positioning;

S500根据所述坐标修正数据，修正根据所述运动传感数据获取的所述用户的运动坐标位置数据，生成运动传感器定位的用户的运动轨迹。S500 corrects the motion coordinate position data of the user acquired according to the motion sensing data according to the coordinate correction data, and generates a motion trajectory of the user positioned by the motion sensor.

进一步地，还包括：Further, it also includes:

S600所述GPS定位完成后，通过所述GPS获取用户的运动坐标位置数据，形成所述GPS定位的用户的运动轨迹；After the GPS positioning is completed by the S600, the motion coordinate position data of the user is acquired by the GPS, and the motion track of the user of the GPS positioning is formed;

S700对接所述运动传感器定位的用户的运动轨迹与所述GPS定位的用户的运动轨迹，实现用户的运动轨迹记录。The S700 docks the motion track of the user positioned by the motion sensor and the motion track of the user positioned by the GPS to implement the motion track record of the user.

进一步地，所述步骤S100包括：Further, the step S100 includes:

S110获取初始位置参考坐标；S110 obtains initial position reference coordinates;

S120通过加速度传感器、陀螺仪传感器、磁传感器采集的用户运动的步长、步频及航向角信息。The S120 uses the acceleration sensor, the gyro sensor, the magnetic sensor to collect the step size of the user motion, the step frequency and the heading angle information.

进一步地，所述步骤S200包括：Further, the step S200 includes:

S210根据所述初始位置参考坐标及采集的所述步长、步频及航向角信息，采用行人航位推算算法计算所述用户的运动坐标位置数据。S210 calculates a motion coordinate position data of the user by using a pedestrian dead reckoning algorithm according to the initial position reference coordinates and the collected step, pitch, and heading angle information.

进一步地，在所述步骤S600之后还包括：Further, after the step S600, the method further includes:

S750获取GPS信号强度，并判断GPS信号强度是否高于预设的阈值，若是，进入步骤S600继续通过所述GPS进行定位，否则，进入步骤S760；S750 obtains the GPS signal strength, and determines whether the GPS signal strength is higher than a preset threshold, and if so, proceeds to step S600 to continue positioning through the GPS, otherwise, proceeds to step S760;

S760以前一个GPS定点的位置作为初始位置，通过所述运动传感器采集的运动传感数据，采用行人行位推算算法定位用户的位置，完善用户的运动轨迹。The position of a GPS fixed point before S760 is taken as the initial position. Through the motion sensing data collected by the motion sensor, the pedestrian position estimation algorithm is used to locate the position of the user, and the movement track of the user is improved.

进一步地，在所述步骤S500之后还包括：Further, after the step S500, the method further includes:

S550关闭所述GPS定位功能，以前一个GPS定点的位置作为初始位置，通过所述运动传感器采集的运动传感数据，继续获取用户的运动坐标位置数据，完善用户的运动轨迹；The S550 turns off the GPS positioning function, and the position of the previous GPS fixed point is used as the initial position, and the motion sensing data collected by the motion sensor continues to acquire the motion coordinate position data of the user, thereby perfecting the motion track of the user;

S560判断距离上一次关闭所述GPS定位功能的时间间隔是否达到了预设的时间间隔，若是，进入步骤S570；S560 determines whether the time interval from the last time the GPS positioning function is turned off has reached a preset time interval, and if yes, proceeds to step S570;

S570开启所述GPS定位功能，并通过所述GPS定位获取用户的当前坐标位置数据，校准所述运动传感器定位产生的位置误差，返回步骤S550。S570 turns on the GPS positioning function, and acquires current coordinate position data of the user by using the GPS positioning, and calibrates the position error generated by the positioning of the motion sensor, and returns to step S550.

本发明还公开了一种运动轨迹生成装置，该装置可采用本发明的运动轨迹生成方法，该运动轨迹生成装置包括：传感定位模块，用于采集用户的运动传感数据，获取用户的运动坐标位置数据；GPS定位模块，用于通过GPS定位用户的坐标位置；计算修正模块，用于根据所述运动传感模块、所述GPS采集的用户的当前坐标位置数据，获取坐标修正数据，修正所述传感定位模块获取的所述运动坐标位置数据；轨迹生成模块，用于根据所述用户的运动坐标位置数据，生成运动轨迹；控制模块，用于在所述GPS定位模块未完成定位前，控制所述传感定位模块获取所述用户的运动坐标位置数据；在所述GPS定位模块完成定位后，控制所述GPS定位模块、传感定位模块分别获取所述用户的当前坐标位置数据；再通过所述计算修正模块获取坐标修正数据，修正所述传感定位模块获取的所述运动坐标位置数据；控制所述轨迹生成模块根据修正后的运动坐标位置数据生成传感定位模块定位的用户的运动轨迹。The invention also discloses a motion trajectory generating device, which can adopt the motion trajectory generating method of the present invention, the motion trajectory generating device comprises: a sensing positioning module, configured to collect motion sensing data of the user, and acquire motion of the user Coordinate position data; a GPS positioning module, configured to locate a coordinate position of the user by using a GPS; and a calculation correction module, configured to acquire coordinate correction data according to current coordinate position data of the motion sensing module and the user acquired by the GPS, and correct The motion coordinate position data acquired by the sensing positioning module; the trajectory generating module is configured to generate a motion trajectory according to the motion coordinate position data of the user; and the control module is configured to: before the GPS positioning module does not complete the positioning Controlling the sensing positioning module to acquire the motion coordinate position data of the user; after the GPS positioning module completes the positioning, controlling the GPS positioning module and the sensing positioning module respectively to acquire current coordinate position data of the user; And acquiring coordinate correction data by using the calculation correction module to correct the sensing positioning mode The motion coordinate position data acquired; controlling the trajectory generation module generates trajectory sensing positioning module according to the movement of the user's position coordinates of the corrected data.

进一步地，所述运动轨迹生成装置还包括：所述控制模块，还用于在所述GPS定位模块完成定位后，控制所述GPS定位模块获取所述用户的运动坐标位置数据，并通过所述轨迹生成模块生成所述GPS定位模块定位的用户的运动轨迹；所述运动轨迹生成装置还包括：对接模块，用于对接所述传感定位模块定位的用户的运动轨迹与所述GPS定位模块定位的用户的运动轨迹，实现用户的运动轨迹记录。Further, the motion trajectory generating device further includes: the control module, configured to, after the GPS positioning module completes positioning, control the GPS positioning module to acquire motion coordinate position data of the user, and pass the The trajectory generating module generates a motion trajectory of the user positioned by the GPS positioning module; the motion trajectory generating device further includes: a docking module, configured to dock the motion trajectory of the user positioned by the sensing positioning module and locate the GPS positioning module The user's motion track realizes the user's motion track record.

进一步地，所述传感定位模块包括传感器中枢，及与所述传感器中枢连接的传感器；所述传感器包括加速度传感器、陀螺仪传感器、磁传感器。Further, the sensing positioning module includes a sensor hub and a sensor connected to the sensor hub; the sensor includes an acceleration sensor, a gyro sensor, and a magnetic sensor.

此外，本发明还公开了一种可穿戴设备，所述可穿戴设备包括本发明所述的运动轨迹生成装置。Further, the present invention also discloses a wearable device comprising the motion trajectory generating device of the present invention.

本发明至少具有以下一项技术效果：The present invention has at least one of the following technical effects:

1、设备进入跑步模式后，用户不用等待GPS定位完成后再开始记录用户的运动轨迹，通过本发明可以获取用户在GPS定位完成前运动的运动轨迹，避免了用户的运动信息的缺失。1. After the device enters the running mode, the user does not have to wait for the GPS positioning to complete before recording the user's motion track. The invention can obtain the motion track of the user before the GPS positioning is completed, and the user's motion information is avoided.

2、本发明兼容了GPS定位与传感器定位两种定位方式，相辅相成，优势互补，共同完成用户的精准定位，从而确保了运动轨迹的正确性。2. The invention is compatible with two positioning modes of GPS positioning and sensor positioning, complement each other, complement each other, and complete the precise positioning of the user together, thereby ensuring the correctness of the motion track.

3、在GPS定位功能开启并实现定位后，考虑到用户户外运动可能存在GPS信号强度弱或者无信号的情况，本发明通过传感器定位用户，避免了GPS信号原因造成用户运动轨迹缺失的问题。3. After the GPS positioning function is turned on and the positioning is realized, considering that the outdoor motion of the user may have a weak GPS signal or no signal, the present invention locates the user through the sensor, thereby avoiding the problem that the user's motion track is missing due to the GPS signal.

4、本发明通过以运动传感器定位为主，定时采用GPS定位来校准的方法，既节省了设备的电量，又保证了运动轨迹的准确性。4. The invention adopts the method of positioning the motion sensor and timing using GPS positioning to calibrate, which not only saves the power of the device, but also ensures the accuracy of the motion track.

附图说明DRAWINGS

为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简要介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention, Those skilled in the art can also obtain other drawings based on these drawings without paying for inventive labor.

图1为本发明一种运动轨迹生成方法实施例的流程图；1 is a flow chart of an embodiment of a method for generating a motion trajectory according to the present invention;

图2为本发明一种运动轨迹生成方法另一实施例的流程图；2 is a flow chart of another embodiment of a method for generating a motion trajectory according to the present invention;

图3为本发明一种运动轨迹生成方法另一实施例的流程图；3 is a flow chart of another embodiment of a method for generating a motion trajectory according to the present invention;

图4为本发明一种运动轨迹生成方法另一实施例的流程图；4 is a flowchart of another embodiment of a method for generating a motion trajectory according to the present invention;

图5为本发明一种运动轨迹生成装置实施例的框图；FIG. 5 is a block diagram of an embodiment of a motion trajectory generating apparatus according to the present invention; FIG.

图6为本发明一种运动轨迹生成装置另一实施例的框图；6 is a block diagram of another embodiment of a motion trajectory generating apparatus according to the present invention;

图7为本发明可穿戴设备实施本发明运动轨迹生成方法生成运动轨迹的示意图。FIG. 7 is a schematic diagram of a method for generating a motion trajectory by the wearable device of the present invention implementing the motion trajectory generating method of the present invention

具体实施方式Detailed ways

为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步地详细描述，显然，所描述的实施例仅仅是本发明一部份实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。The present invention will be further described in detail with reference to the accompanying drawings, in which . All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

本发明公开了一种运动轨迹生成方法，实施例如图1所示，包括：The invention discloses a motion trajectory generating method, which is implemented as shown in FIG. 1 and includes:

具体的说，本实施例是在GPS定位完成前运动轨迹生成的方法，比如用户佩戴运动手环准备跑步，手环可以给用户提供很多运动信息，比如速度、距离、步数、运动轨迹等等。当佩戴者操作手环进入跑步模式后，软件会打开GPS定位功能，开始定位，但由于受客观因素影响，GPS芯片定位功能不能很快完成，需要一定的时间，一般需要1分钟左右。那么在这1分钟左右的时间里，如果用户已经开始运动了那么这段时间就没有运动轨迹了，运动信息的统计也会不完整。为了弥补这一缺失，本发明通过运动传感器采集用户的运动传感数据，然后将运动传感数据通过算法获取到用户的运动坐标位置数据，并在GPS定位完成后，根据运动传感器获取的用户的当前坐标位置与GPS定位的用户当前坐标位置进行比较，从而获得坐标修正数据，以此修正之前通过运动传感器采集的运动传感数据而得到的坐标位置数据，再根据修正后的运动坐标位置数据生成运动传感器定位的用户的运动轨迹，也就是GPS定位完成前的用户的运动轨迹，弥补了用户运动轨迹缺失的问题，使得用户的运动信息更为完整和准确。Specifically, the embodiment is a method for generating a motion trajectory before the GPS positioning is completed. For example, the user wears a sports bracelet to prepare for running, and the wristband can provide the user with a lot of motion information, such as speed, distance, number of steps, motion trajectory, and the like. . When the wearer operates the bracelet to enter the running mode, the software will turn on the GPS positioning function to start positioning, but due to objective factors, the GPS chip positioning function cannot be completed quickly, and it takes a certain time, which usually takes about 1 minute. Then in this 1 minute or so, if the user has started to exercise, then there is no motion track during this time, and the statistics of the sports information will be incomplete. In order to make up for this deficiency, the present invention collects the motion sensing data of the user through the motion sensor, and then acquires the motion coordinate position data of the user through the algorithm by the motion sensing data, and after the GPS positioning is completed, the user acquired according to the motion sensor The current coordinate position is compared with the current coordinate position of the user positioned by the GPS to obtain the coordinate correction data, thereby correcting the coordinate position data obtained by the motion sensor data acquired by the motion sensor, and then generating the coordinate position data according to the corrected motion coordinate position data. The motion trajectory of the user positioned by the motion sensor, that is, the motion trajectory of the user before the GPS positioning is completed, compensates for the problem of the missing motion trajectory of the user, and makes the motion information of the user more complete and accurate.

具体的，比如说，在GPS定位未完成前，通过运动传感器采集的运动传感数据而获取的用户的运动坐标数据为：Specifically, for example, before the GPS positioning is completed, the motion coordinate data of the user acquired by the motion sensor data collected by the motion sensor is:

(X ₁，Y ₁)，(X ₂，Y ₂)，(X ₃，Y ₃)……(X _n，Y _n) (X ₁ , Y ₁ ), (X ₂ , Y ₂ ), (X ₃ , Y ₃ ) (X _n , Y _n )

假如GPS已开启并定位完成后，运动传感器定位的用户当前坐标位置为(X _n，Y _n)，GPS定位用户当前坐标位置为(X _m，Y _m)；由此，可获得坐标修正数据ΔX＝X _m-X _n，ΔY＝Y _m-Y _n；由此，利用ΔX和ΔY即修正之前GPS定位未完成前通过运动传感器定位的运动坐标数据： If the GPS is turned on and the positioning is completed, the current coordinate position of the user positioned by the motion sensor is (X _n , Y _n ), and the current coordinate position of the GPS positioning user is (X _m , Y _m ); thus, the coordinate correction data ΔX can be obtained. =X _m -X _n , ΔY=Y _m -Y _n ; Thus, using ΔX and ΔY, the motion coordinate data that is positioned by the motion sensor before the GPS positioning is completed is corrected:

(X ₁+ΔX，Y ₁+ΔY)，(X ₂+ΔX，Y ₂+ΔY)，(X ₃+ΔX，Y ₃+ΔY)……(X _n+ΔX，Y _n+ΔY) (X ₁ + ΔX, Y ₁ + ΔY), (X ₂ + ΔX, Y ₂ + ΔY), (X ₃ + ΔX, Y ₃ + ΔY) (X _n + ΔX, Y _n + ΔY)

得到上述修正后的运动坐标数据后，将其连接起来就形成了GPS定位未完成前用户的运动轨迹了。当然，GPS定位完成后，GPS会准确的定位用户的运动坐标数据，获得GPS定位的运动轨迹，将这两者接合，就是用户的整个完整的运动轨迹记录了。具体的，本发明的另一实施例如图2所示包括：After obtaining the corrected motion coordinate data, connecting them together forms a motion trajectory of the user before the GPS positioning is completed. Of course, after the GPS positioning is completed, the GPS will accurately locate the motion coordinate data of the user, obtain the motion track of the GPS positioning, and join the two, that is, the entire complete motion track of the user is recorded. Specifically, another embodiment of the present invention, as shown in FIG. 2, includes:

上述任一实施例中，所述步骤S100包括：In any of the above embodiments, the step S100 includes:

所述步骤S200包括：The step S200 includes:

本实施例采用了行人航位推算算法(PDR：Pedestrian Dead Reckoning)，PDR是对步行者行走的步数、步长、方向进行测量和统计，推算出步行者行走轨迹，和位置等信息。运动传感器包括但不限于加速度传感器、陀螺仪传感器、磁传感器等采集用户的步长、步频及航向角等信息。当然，还有一种使用MEMS传感器(加速度计、磁力计、陀螺仪和高度计)，这些传感器配合行人航位推算(PDR)技术能够确定用户位置。后续再通过GPS定位来修正PDR技术定位的坐标位置数据(运动一般在室外，而在室外，GPS定位的位置信息精度良好，不确定性低)，从而获得正确的用户的运动轨迹。PDR行人航位推算不依赖任何外力协助，无需任何外部基础设施配合，就能产生较为准确的相对位置定位信息，再与作为绝对定位技术的GPS互补，获得用户的绝对位置信息。In this embodiment, a pedestrian dead reckoning algorithm (PDR: Pedestrian Dead Reckoning) is adopted. The PDR measures and counts the number of steps, steps, and directions of walking of the pedestrian, and derives information such as the walking trajectory and position of the pedestrian. Motion sensors include, but are not limited to, acceleration sensors, gyroscope sensors, magnetic sensors, etc., such as step size, stride, and heading angle of the user. Of course, there is also a use of MEMS sensors (accelerometers, magnetometers, gyroscopes, and altimeters) that can be used to determine user position in conjunction with pedestrian dead reckoning (PDR) techniques. Subsequent GPS positioning is used to correct the coordinate position data of the PDR technology positioning (the motion is generally outdoors, while in the outdoor, the GPS position information is accurate and the uncertainty is low), so that the correct user's motion trajectory is obtained. The PDR pedestrian dead reckoning does not rely on any external assistance, and can generate relatively accurate relative positional positioning information without any external infrastructure coordination, and then complements the GPS as an absolute positioning technology to obtain the absolute position information of the user.

本发明的另一实施例，如图3所示，包括：Another embodiment of the present invention, as shown in FIG. 3, includes:

S700对接所述运动传感器定位的用户的运动轨迹与所述GPS定位的用户的运动轨迹；S700 docks the motion track of the user positioned by the motion sensor and the motion track of the user positioned by the GPS;

本实施例中，考虑到用户在室外运动过程中有可能遇到GPS信号不好的情况，GPS信号弱或者没有GPS信号，同样可能造成用户运动轨迹的缺失。因此，针对这种情况，本实施例在开启GPS定位功能并完成GPS定位后，检测GPS的信号强度，然后判断此位置GPS信号强度是否高于预设的阈值，如果是的话，则说明该位置GPS信号强度符合定位的要求，可以用来定位用户，获取用户的运动坐标位置数据，形成GPS定位的用户的运动轨迹。如果GPS信号强度比预设的阈值低的话，那么说明GPS信号很弱，不足以用来定位用户的位置，那么此时，就触发运动传感器，让运动传感器采集用户的运动传感信息，再根据这些运动传感信息通过PDR算法定位用户，定位时，以前一个GPS定点的位置作为初始位置，如此，获得的用户的定位更为准确，再根据这些定位的位置坐标数据形成运动传感器定位的用户的运动轨迹。等到GPS信号强度高于预设的阈值的时候，再返回通过GPS进行定位。最后，将所有GPS定位的用户的运动轨迹与所有运动传感器定位的运动轨迹接合，形成了用户的完整的运动轨迹。In this embodiment, considering that the user may encounter a bad GPS signal during outdoor exercise, the GPS signal is weak or has no GPS signal, and the user motion trajectory may also be missing. Therefore, in this case, after the GPS positioning function is enabled and the GPS positioning is completed, the signal strength of the GPS is detected, and then the GPS signal strength of the position is determined to be higher than a preset threshold. If yes, the position is indicated. The GPS signal strength meets the requirements of positioning, and can be used to locate the user, obtain the motion coordinate position data of the user, and form the motion track of the user positioned by the GPS. If the GPS signal strength is lower than the preset threshold, then the GPS signal is weak and is not enough to locate the user's position. At this time, the motion sensor is triggered, and the motion sensor collects the user's motion sensing information, and then according to These motion sensing information is used to locate the user through the PDR algorithm. When positioning, the position of the previous GPS fixed point is used as the initial position. Thus, the obtained user's positioning is more accurate, and then the user of the motion sensor is formed according to the position coordinate data of the positioning. Movement track. Wait until the GPS signal strength is higher than the preset threshold, and then return to the GPS for positioning. Finally, the motion trajectory of all GPS-located users is combined with the motion trajectories of all motion sensor positioning to form a complete motion trajectory of the user.

本发明的另一实施例，如图4所示，包括：Another embodiment of the present invention, as shown in FIG. 4, includes:

S500根据所述坐标修正数据，修正根据所述运动传感数据获取的所述用户的运动坐标位置数据，生成运动传感器定位的用户的运动轨迹；S500, according to the coordinate correction data, correcting motion coordinate position data of the user acquired according to the motion sensing data, and generating a motion track of a user positioned by the motion sensor;

本发明实施例中，考虑到GPS定位功能长时间处于开启使用的状态的话，对设备的电量耗费较快，因此，本发明实施例的方法中，采用了运动传感器来定位用户位置，生成用户运动轨迹的方法，又由于GPS室外定位更为精准，而运动传感器定位容易产生误差，因此，采用定时开启GPS定位功能校正运动传感器定位的误差。具体的，假如，GPS定位当前用户的位置为(X0，Y0)，运动传感器定位的用户当前位置为(X1，Y1)，那么可据此获得坐标修正数据，从而可据此修正之前的运动坐标数据，生成了GPS定位未完成前的用户运动轨迹即生成了运动传感器定位的用户的运动轨迹，然后再关闭GPS定位功能，让控制GPS功能的芯片处于休眠状态，节省电量。运动传感器以前一次GPS定点的位置即(X1，Y1)作为初始位置，然后再通过运动传感器结合PDR算法定位用户的运动坐标位置数据，从而在前面的运动传感器定位的用户的运动轨迹上继续进行完善，便于记录用户完整的运动轨迹。然后再隔预设的时间间隔，再开启GPS定位功能，通过GPS定位用户的当前坐标位置，与通过运动传感器定位的用户的当前坐标位置进行比较，校正运动传感器的定位误差。然后再关闭GPS定位功能，并以前面GPS定点的位置作为初始位置，再通过运动传感器来定位。如此反复，直到用户结束运动。值得注意的是，本实施例中前一个GPS定点的位置，实际指的是前一个定点的位置，由于前面已通过GPS完成了定位和校准，所以，前一个定点位置实际是GPS定点的位置，故为前一个GPS定点的位置。或者也可以视为最后一个GPS定点的位置。本实施例大部分时间关闭了GPS定位功能，节省了设备的电量。通过运动传感器来定位用户，生成用户的运动轨迹，而为了提高定位或运动轨迹的准确率，定时通过GPS来校准，如此，即可获得准确的用户的运动轨迹又不耗费设备电量，实用性强。In the embodiment of the present invention, in consideration of the fact that the GPS positioning function is in the state of being used for a long time, the power consumption of the device is relatively fast. Therefore, in the method of the embodiment of the present invention, the motion sensor is used to locate the user position and generate user motion. The method of the trajectory is more accurate due to the outdoor positioning of the GPS, and the positioning of the motion sensor is prone to error. Therefore, the GPS positioning function is used to correct the error of the positioning of the motion sensor. Specifically, if the position of the current user of the GPS positioning is (X0, Y0) and the current position of the user positioned by the motion sensor is (X1, Y1), the coordinate correction data can be obtained according to the motion correction data, thereby correcting the previous motion coordinates. The data generates a motion trajectory of the user before the GPS positioning is completed, that is, a motion trajectory of the user who generated the motion sensor positioning, and then turns off the GPS positioning function, so that the chip that controls the GPS function is in a sleep state, saving power. The position of the previous GPS fixed point of the motion sensor (X1, Y1) is taken as the initial position, and then the motion coordinate position data of the user is positioned by the motion sensor combined with the PDR algorithm, thereby continuing to improve on the motion track of the user positioned by the front motion sensor. It is convenient to record the complete movement track of the user. Then, after a preset time interval, the GPS positioning function is turned on, the current coordinate position of the user is positioned by the GPS, and the current coordinate position of the user positioned by the motion sensor is compared to correct the positioning error of the motion sensor. Then turn off the GPS positioning function, and use the position of the front GPS fixed point as the initial position, and then use the motion sensor to locate. This is repeated until the user ends the exercise. It should be noted that the position of the previous GPS fixed point in this embodiment actually refers to the position of the previous fixed point. Since the front has been positioned and calibrated by GPS, the previous fixed position is actually the position of the GPS fixed point. Therefore, it is the location of the previous GPS. Or it can be considered as the location of the last GPS fixed point. In this embodiment, the GPS positioning function is turned off most of the time, which saves the power of the device. The user is positioned by the motion sensor to generate the motion trajectory of the user, and in order to improve the accuracy of the positioning or the motion trajectory, the timing is calibrated by GPS, so that an accurate user's motion trajectory can be obtained without consuming the device power, and the utility model is strong. .

基于相同的技术构思，本发明还公开了一种运动轨迹生成装置，该装置可采用本发明的运动轨迹生成方法，具体的，如图5所示，该运动轨迹生成装置包括：传感定位模块10，用于采集用户的运动传感数据，获取用户的运动坐标位置数据；GPS定位模块20，用于通过GPS定位用户的坐标位置；计算修正模块30，用于根据所述运动传感模块、所述GPS采集的用户的当前坐标位置数据，获取坐标修正数据，修正所述传感定位模块10获取的所述运动坐标位置数据；轨迹生成模块40，用于根据所述用户的运动坐标位置数据，生成运动轨迹；控制模块50，用于在所述GPS定位模块20未完成定位前，控制所述传感定位模块10获取所述用户的运动坐标位置数据；在所述GPS定位模块20完成定位后，控制所述GPS定位模块20、传感定位模块10分别获取所述用户的当前坐标位置数据；再通过所述计算修正模块30获取坐标修正数据，修正所述传感定位模块10获取的所述运动坐标位置数据；控制所述轨迹生成模块40根据修正后的运动坐标位置数据生成传感定位模块10定位的用户的运动轨迹。Based on the same technical concept, the present invention also discloses a motion trajectory generating device, which can adopt the motion trajectory generating method of the present invention. Specifically, as shown in FIG. 5, the motion trajectory generating device includes: a sensing positioning module. 10, for collecting motion sensing data of the user, acquiring motion coordinate position data of the user; the GPS positioning module 20 is configured to locate the coordinate position of the user by using the GPS; and calculating a correction module 30 for using the motion sensing module, The current coordinate position data of the user acquired by the GPS acquires the coordinate correction data, and the motion coordinate position data acquired by the sensor positioning module 10 is corrected; the trajectory generating module 40 is configured to use the motion coordinate position data of the user. And generating a motion trajectory; the control module 50 is configured to control the sensor positioning module 10 to acquire the motion coordinate position data of the user before the positioning of the GPS positioning module 20 is completed; and complete the positioning in the GPS positioning module 20 After that, the GPS positioning module 20 and the sensing positioning module 10 are respectively controlled to acquire current coordinate position data of the user; The calculation correction module 30 acquires coordinate correction data, and corrects the motion coordinate position data acquired by the sensor positioning module 10; and controls the trajectory generation module 40 to generate the sensor positioning module 10 according to the corrected motion coordinate position data. The user's trajectory.

本实施例中，传感定位模块10、GPS定位模块20、计算修正模块30及轨迹生成模块40均与控制模块50相连，其中：传感定位模块10采集用户的运动传感数据，获取用户的运动坐标位置数据；控制模块50判断GPS定位模块20是否已开启定位功能并完成了用户当前位置的定位，如果是的话，则控制计算修正模块30根据传感定位模块10、GPS定位模块20分别获取用户的当前坐标位置数据，从而获得修正数据，该计算修正模块30根据该修正值修正传感定位模块10定位的用户的运动坐标位置数据，轨迹生成模块40再根据修正后的用户的运动坐标位置数据，生成用户的运动轨迹，即本实施例所说的传感定位模块定位的用户的运动轨迹，该运动轨迹是GPS定位未完成前的用户的运动轨迹。In this embodiment, the sensor positioning module 10, the GPS positioning module 20, the calculation correction module 30, and the trajectory generation module 40 are all connected to the control module 50, wherein: the sensing positioning module 10 collects motion sensing data of the user, and acquires the user's The motion coordinate position data; the control module 50 determines whether the GPS positioning module 20 has turned on the positioning function and completes the positioning of the current position of the user, and if so, the control calculation correction module 30 acquires the sensor positioning module 10 and the GPS positioning module 20 respectively. The current coordinate position data of the user, thereby obtaining correction data, the calculation correction module 30 corrects the motion coordinate position data of the user positioned by the sensor positioning module 10 according to the correction value, and the trajectory generation module 40 further determines the motion coordinate position of the user according to the correction. The data is generated, and the motion track of the user positioned by the sensing positioning module in the embodiment is generated, and the motion track is a motion track of the user before the GPS positioning is completed.

当然，如果想要获得完整的运动轨迹，较佳的，如图6所示，在上述实施例基础上还增加了与控制模块50连接的对接模块60。其中，所述控制模块50在所述GPS定位模块20完成定位后，控制所述GPS定位模块20获取所述用户的运动坐标位置数据，并通过所述轨迹生成模块40生成所述GPS定位模块20定位的用户的运动轨迹；所示对接模块60对接所述传感定位模块10定位的用户的运动轨迹与所述GPS定位模块20定位的用户的运动轨迹，实现用户的运动轨迹记录。Of course, if it is desired to obtain a complete motion trajectory, preferably, as shown in FIG. 6, a docking module 60 connected to the control module 50 is added to the above embodiment. After the GPS positioning module 20 completes the positioning, the control module 50 controls the GPS positioning module 20 to acquire the motion coordinate position data of the user, and generates the GPS positioning module 20 by using the trajectory generation module 40. The motion track of the user is located; the docking module 60 is connected to the motion track of the user positioned by the sensor positioning module 10 and the motion track of the user positioned by the GPS positioning module 20 to realize the motion track record of the user.

上述任一装置实施例中，所述传感定位模块包括传感器中枢，及与所述传感器中枢连接的传感器；所述传感器包括加速度传感器、陀螺仪传感器、磁传感器。In any of the above device embodiments, the sensing positioning module comprises a sensor hub and a sensor connected to the sensor hub; the sensor comprises an acceleration sensor, a gyro sensor, and a magnetic sensor.

加速度传感器、陀螺仪传感器和磁传感器采集用户的运动传感数据，获取用户的运动信息，定位用户的运动坐标位置。具体的，通过这些传感器获取用户运动的步长、步频、航向角信息，传感器中枢利用传感器获取的运动信息，采用PDR(行人航位推算算法)，结合控制模块给出的参考坐标，定位用户的坐标位置，获取用户的运动坐标数据。然后在GPS定位模块完成定位后，计算修正模块在控制模块的控制下，根据GPS定位模块、传感定位模块分别获取的用户的当前坐标位置数据，获得坐标修正数据，然后该计算修正模块根据该坐标修正数据修正之前传感定位模块定位的用户的运动坐标位置数据；轨迹生成模块再根据这些修正后的用户的运动坐标位置数据生成传感器定位的用户的运动轨迹。由于GPS定位模块的定位实现后，后续轨迹生成模块可根据GPS定位模块定位的用户的运动坐标位置数据生成GPS定位的用户的运动轨迹；然后对接模块再将传感器定位的用户的运动轨迹与GPS定位的用户的运动轨迹对接起来，就形成了用户的完整的运动轨迹。The acceleration sensor, the gyro sensor and the magnetic sensor collect the motion sensing data of the user, acquire the motion information of the user, and locate the motion coordinate position of the user. Specifically, the sensor obtains the step size, the step frequency, and the heading angle information of the user motion, and the sensor center uses the motion information acquired by the sensor, and uses PDR (Pedestrian Dead Reckoning Algorithm), combined with the reference coordinates given by the control module, to locate the user. The coordinate position of the user gets the motion coordinate data of the user. Then, after the GPS positioning module completes the positioning, the calculation correction module obtains the coordinate correction data according to the current coordinate position data of the user respectively acquired by the GPS positioning module and the sensing positioning module under the control of the control module, and then the calculation correction module according to the The coordinate correction data corrects the motion coordinate position data of the user positioned by the sensing positioning module before; the trajectory generation module generates a motion trajectory of the user positioned by the sensor according to the corrected motion coordinate position data of the user. After the positioning of the GPS positioning module is implemented, the subsequent trajectory generating module may generate the motion trajectory of the GPS locating user according to the motion coordinate position data of the user positioned by the GPS positioning module; then the docking module then locates the motion trajectory of the user and the GPS positioning of the sensor. The user's motion trajectory is docked to form the user's complete motion trajectory.

本发明装置的另一实施例，在上述实施例的基础上还包括与控制模块相连的信号强度获取模块，在上述实施例GPS定位模块已完成定位后，在通过GPS定位用户的运动坐标位置数据的过程中，信号强度获取模块获取GPS的信号强度，控制模块根据信号强度获取模块获取的GPS信号强度，判断该GPS信号强度是否高于预设的阈值，若是的话则继续通过GPS定位模块进行定位，获取用户的运动坐标位置数据，通过轨迹生成模块不断完善GPS定位的用户的运动轨迹；再通过对接模块将所有传感定位模块定位的用户的运动轨迹与所有GPS定位的用户的运动轨迹接合，生成用户的运动轨迹。如果GPS信号强度低于预设的阈值的话，则通过传感定位模块定位用户，获取用户的运动坐标位置数据，在通过传感定位模块定位的过程中，为减少传感定位的误差，以前一个GPS定位的坐标位置数据作为初始位置或参考位置，根据传感定位模块获取的运动数据，采用PDR算法推算用户的运动坐标，完善用户的运动轨迹。Another embodiment of the device of the present invention further includes a signal strength acquiring module connected to the control module, and after the positioning of the GPS positioning module in the embodiment is completed, positioning the motion coordinate position data of the user by using the GPS. In the process, the signal strength acquisition module acquires the signal strength of the GPS, and the control module obtains the GPS signal strength acquired by the module according to the signal strength, and determines whether the GPS signal strength is higher than a preset threshold, and if so, continues to locate through the GPS positioning module. Obtaining the motion coordinate position data of the user, continuously improving the motion trajectory of the GPS locating user through the trajectory generating module; and then aligning the motion trajectory of the user positioned by all the sensing positioning modules with the motion trajectory of all GPS positioning users through the docking module, Generate the user's motion track. If the GPS signal strength is lower than the preset threshold, the user is positioned by the sensing positioning module to obtain the motion coordinate position data of the user, and in the process of positioning through the sensing positioning module, in order to reduce the error of the sensing positioning, the previous one The coordinate position data of the GPS positioning is used as the initial position or the reference position. According to the motion data acquired by the sensing positioning module, the PDR algorithm is used to estimate the motion coordinates of the user, and the motion track of the user is improved.

本发明装置的另一实施例，为了节省该装置的耗电量，采用传感定位模块定位为主、GPS定位模块定位校准的方式来定位用户的运动坐标位置数据，生成用户的运动轨迹，具体的实施过程可以参见本发明方法实施例的实现过程。In another embodiment of the device of the present invention, in order to save the power consumption of the device, the positioning of the sensing positioning module and the positioning and calibration of the GPS positioning module are used to locate the motion coordinate position data of the user, and the motion track of the user is generated. For the implementation process, reference may be made to the implementation process of the method embodiment of the present invention.

本发明的运动轨迹生成装置可以设置在多种设备上，比如可穿戴设备上，或者便携终端(比如手机)上。The motion trajectory generating device of the present invention can be provided on a variety of devices, such as on a wearable device, or on a portable terminal such as a mobile phone.

最后，本发明还公开了一种可穿戴设备，所述可穿戴设备包括本发明所述的运动轨迹生成装置。本发明的可穿戴设备包括智能手环、手表、智能腰带等等。Finally, the present invention also discloses a wearable device comprising the motion trajectory generating device of the present invention. The wearable device of the present invention includes a smart bracelet, a watch, a smart belt, and the like.

本发明的可穿戴设备采用本发明的方法的一个实施例，本实施例是要解决在跑步模式下GPS定位没有完成前可穿戴设备的佩戴者运动轨迹缺失的问题，本实施例中不要求佩戴者等待GPS定位完成才能开始跑步，且不需要任何网络的支持，独立运行完成。The wearable device of the present invention adopts an embodiment of the method of the present invention. This embodiment is to solve the problem that the wearer's motion track of the wearable device is missing before the GPS positioning is completed in the running mode, and is not required to be worn in this embodiment. Waiting for GPS positioning to complete the run, and does not require any network support, independent operation is completed.

在佩戴者开启跑步模式后，可穿戴设备会打开与主CPU连接的传感器中枢与GPS芯片，GPS芯片在后台自身完成搜星操作，传感器中枢依赖连接的传感器，包括加速度传感器、陀螺仪传感器和地磁传感器，获取佩戴者运动姿态相关信息，2者运行后即可允许用户开始跑步。传感器中枢会固化步行者航位推算算法(Pedestrian Dead Reckoning，PDR)，此算法依赖于其连接的3个传感器组成的9轴信息。在开启PDR算法后，主CPU给传感器中枢一个参考坐标(x0，y0)，当佩戴者每完成一步踏出，传感器中枢会输出一组相对运动坐标(x1，y1)，定位完成时会生成一组相对运动坐标轨迹(x1，y1)，(x2，y2)……(xn，yn)，同时主CPU会从GPS芯片获取经纬度信息(X，Y)。实际上(xn，yn)与(X，Y)是同一个点，基于这个结果，本方法对这条相对运动坐标组成的运动轨迹进行平移，确保(xn，yn)与(X，Y)重合，则GPS定位前的运动轨迹记录完成，并且能与GPS定位轨迹完全接合。After the wearer turns on the running mode, the wearable device opens the sensor hub and the GPS chip connected to the main CPU, and the GPS chip performs the star search operation in the background itself, and the sensor hub depends on the connected sensors, including the acceleration sensor, the gyro sensor and the geomagnetism. The sensor acquires information about the wearer's movement posture, and the two can allow the user to start running after running. The sensor hub cures the Pedestrian Dead Reckoning (PDR) algorithm, which relies on the 9-axis information of the 3 sensors it is connected to. After the PDR algorithm is turned on, the main CPU gives the sensor hub a reference coordinate (x0, y0). When the wearer steps out, the sensor hub outputs a set of relative motion coordinates (x1, y1), and a positioning is generated when the positioning is completed. The group relative motion coordinate track (x1, y1), (x2, y2) ... (xn, yn), and the main CPU will obtain latitude and longitude information (X, Y) from the GPS chip. In fact (xn, yn) and (X, Y) are the same point. Based on this result, the method translates the motion trajectory composed of this relative motion coordinate to ensure that (xn, yn) coincides with (X, Y). , the motion track before GPS positioning is completed, and can be fully engaged with the GPS positioning track.

本实施例的方法中，对传感器中枢中PDR算法产生的相对坐标点进行一一修正，使之与定位后的轨迹对接，从而形成一条完整的运动轨迹，弥补了市面上可穿戴设备GPS定位前佩戴者运动轨迹缺失的问题或者不定位不允许佩戴者开始跑步的问题，时间利用和信息完整都做了改善。In the method of the embodiment, the relative coordinate points generated by the PDR algorithm in the sensor hub are corrected one by one to interface with the trajectory after positioning, thereby forming a complete motion trajectory, which compensates for the GPS positioning of the wearable device on the market. The problem of missing wearer's trajectory or not positioning does not allow the wearer to start running, time utilization and information integrity have been improved.

本发明的典型应用场景描述如下：A typical application scenario of the present invention is described as follows:

A.佩戴者进入跑步模式A. The wearer enters the running mode

B.本方法打开GPS芯片，开始定位B. This method turns on the GPS chip and starts positioning.

C.激活传感器中枢并使能PDR算法，同时传入初始坐标(x0,y0)C. Activate the sensor hub and enable the PDR algorithm, and pass in the initial coordinates (x0, y0)

D.传感器中枢随着佩戴者每走出一步，输出一组相对运动坐标D. The sensor hub outputs a set of relative motion coordinates as the wearer takes one step.

E.定位完成前，由PDR输出的相对运动坐标形成了一个运动轨迹E. Before the positioning is completed, the relative motion coordinates output by the PDR form a motion trajectory.

F.定位完成时，产生最后一组相对运动坐标(xn，yn)，同时主CPU从GPS芯片获取当前佩戴者位置经纬度(X，Y)信息，(xn，yn)与(X，Y)理论上同一个坐标点，得出相对运动轨迹修正值Δx＝X-xn，Δy＝Y-ynF. When the positioning is completed, the last set of relative motion coordinates (xn, yn) is generated, and the main CPU obtains the current wearer's position latitude and longitude (X, Y) information from the GPS chip, (xn, yn) and (X, Y) theory. The same coordinate point is obtained, and the relative motion trajectory correction value Δx=X-xn, Δy=Y-yn is obtained.

G.利用Δx，Δy修正相对运动坐标轨迹上的每一个点，从而使相对运动坐标轨迹与GPS定位后的运动轨迹在GPS定位完成时那个点完成接合G. Use Δx, Δy to correct each point on the relative motion coordinate trajectory, so that the relative motion coordinate trajectory and the GPS locating motion trajectory are completed at the point when the GPS positioning is completed.

H.佩戴者从跑步开始到GPS定位完成时，对应运动轨迹记录完成。H. When the wearer starts from running to complete GPS positioning, the corresponding motion track record is completed.

本实施例是在GPS定位完成前，依赖于主CPU连接的传感器中枢中固化的PDR算法，获取佩戴者每一步踏出后相对运动坐标，由这些相对运动坐标组成一条相对运动轨迹。在GPS定位完成时，主CPU获取佩戴者那一刻的定位信息然后对这条相对运动轨迹进行线性修正，使之与实际GPS定位产生的运动轨迹完全接合，示意图如图7所示；其中，每个点线性平移算法为In this embodiment, before the GPS positioning is completed, the PDR algorithm that is solidified in the sensor hub connected to the main CPU is obtained, and the relative motion coordinates of the wearer after each step is obtained, and the relative motion coordinates are composed of the relative motion coordinates. When the GPS positioning is completed, the main CPU acquires the positioning information of the wearer at that moment and then linearly corrects the relative motion trajectory to fully engage with the motion trajectory generated by the actual GPS positioning, as shown in FIG. 7; The point linear translation algorithm is

X(n-1)＝x(n-1)+(X-xn)，X(n-1)=x(n-1)+(X-xn),

Y(n-1)＝y(n-1)+(Y-yn)Y(n-1)=y(n-1)+(Y-yn)

修正后，这段实际运动轨迹组成点为：After the correction, the actual movement trajectory consists of:

(X1，Y1)，(X2，Y2)，……(Xn-1，Yn-1)，(X，Y)(X1, Y1), (X2, Y2), ... (Xn-1, Yn-1), (X, Y)

本发明实施例的关键是可穿戴设备进入跑步模式后，不用等待GPS定位完成才能开始记录佩戴者运动轨迹，依赖于传感器中枢PDR算法获取相对运动轨迹，定位后再进行校正，就能产生佩戴者开始跑步到定时完成时的轨迹，从而记录了一条完整的运动轨迹。本实施例不要求佩戴者在跑步模式下打开GPS完成定位后才能跑步，解决开始跑步后到定位完成前运动轨迹缺失问题，且本实施例的可穿戴设备独立运行，不依赖于外部网络。The key point of the embodiment of the present invention is that after the wearable device enters the running mode, the wearer's motion trajectory can be recorded without waiting for the GPS positioning to complete, and the relative motion trajectory is acquired by the sensor central PDR algorithm, and the correction is performed after the positioning, so that the wearer can be generated. The trajectory begins when running to the timed completion, thus recording a complete trajectory. The embodiment does not require the wearer to open the GPS in the running mode to complete the positioning, and can solve the problem that the movement track is missing after the start of the running to the completion of the positioning, and the wearable device of the embodiment runs independently and does not depend on the external network.

尽管已描述了本发明的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。While the preferred embodiment of the invention has been described, it will be understood that Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and the modifications and

显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。It is apparent that those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention cover the modifications and modifications of the invention

Claims

一种运动轨迹生成方法，其特征在于，包括：A method for generating a motion trajectory, comprising:

S100通过运动传感器，采集用户的运动传感数据；The S100 collects motion sensing data of the user through the motion sensor;

S200根据采集的所述运动传感数据，获取所述用户的运动坐标位置数据；S200: acquiring motion coordinate position data of the user according to the collected motion sensing data;

S300判断是否已开启GPS定位功能并通过所述GPS完成用户当前位置的定位，若是，进入步骤S400，否则返回步骤S100；S300 determines whether the GPS positioning function has been turned on and the positioning of the current location of the user is completed by the GPS, and if yes, proceeds to step S400, otherwise returns to step S100;

S400根据通过所述运动传感器、GPS定位分别获取的用户的当前坐标位置数据，获取坐标修正数据；S400 acquires coordinate correction data according to current coordinate position data of the user respectively acquired by the motion sensor and GPS positioning;

S500根据所述坐标修正数据，修正根据所述运动传感数据获取的所述用户的运动坐标位置数据，生成运动传感器定位的用户的运动轨迹。S500 corrects the motion coordinate position data of the user acquired according to the motion sensing data according to the coordinate correction data, and generates a motion trajectory of the user positioned by the motion sensor.
根据权利要求1所述的一种运动轨迹生成方法，其特征在于，还包括：The method for generating a motion trajectory according to claim 1, further comprising:

S600所述GPS定位完成后，通过所述GPS获取用户的运动坐标位置数据，形成所述GPS定位的用户的运动轨迹；After the GPS positioning is completed by the S600, the motion coordinate position data of the user is acquired by the GPS, and the motion track of the user of the GPS positioning is formed;

S700对接所述运动传感器定位的用户的运动轨迹与所述GPS定位的用户的运动轨迹，实现用户的运动轨迹记录。The S700 docks the motion track of the user positioned by the motion sensor and the motion track of the user positioned by the GPS to implement the motion track record of the user.
根据权利要求1或2所述的一种运动轨迹生成方法，其特征在于，所述步骤S100包括：The method for generating a motion trajectory according to claim 1 or 2, wherein the step S100 comprises:

S110获取初始位置参考坐标；S110 obtains initial position reference coordinates;

S120通过加速度传感器、陀螺仪传感器、磁传感器采集的用户运动的步长、步频及航向角信息。The S120 uses the acceleration sensor, the gyro sensor, the magnetic sensor to collect the step size of the user motion, the step frequency and the heading angle information.
根据权利要求3所述的一种运动轨迹生成方法，其特征在于，所述步骤S200包括：The method of generating a motion trajectory according to claim 3, wherein the step S200 comprises:

S210根据所述初始位置参考坐标及采集的所述步长、步频及航向角信息，采用行人航位推算算法计算所述用户的运动坐标位置数据。S210 calculates a motion coordinate position data of the user by using a pedestrian dead reckoning algorithm according to the initial position reference coordinates and the collected step, pitch, and heading angle information.
根据权利要求2所述的一种运动轨迹生成方法，其特征在于，还包括：The method according to claim 2, further comprising:

S750获取GPS信号强度，并判断GPS信号强度是否高于预设的阈值，若是，进入步骤S600继续通过所述GPS进行定位，否则，进入步骤S760；S750 obtains the GPS signal strength, and determines whether the GPS signal strength is higher than a preset threshold, and if so, proceeds to step S600 to continue positioning through the GPS, otherwise, proceeds to step S760;

S760以前一个GPS定点的位置作为初始位置，通过所述运动传感器采集的运动传感数据，采用行人行位推算算法定位用户的位置，完善用户的运动轨迹。The position of a GPS fixed point before S760 is taken as the initial position. Through the motion sensing data collected by the motion sensor, the pedestrian position estimation algorithm is used to locate the position of the user, and the movement track of the user is improved.
根据权利要求1所述的一种运动轨迹生成方法，其特征在于，还包括：The method for generating a motion trajectory according to claim 1, further comprising:

S550关闭所述GPS定位功能，以前一个GPS定点的位置作为初始位置，通过所述运动传感器采集的运动传感数据，继续获取用户的运动坐标位置数据，完善用户的运动轨迹；The S550 turns off the GPS positioning function, and the position of the previous GPS fixed point is used as the initial position, and the motion sensing data collected by the motion sensor continues to acquire the motion coordinate position data of the user, thereby perfecting the motion track of the user;

S560判断距离上一次关闭所述GPS定位功能的时间间隔是否达到了预设的时间间隔，若是，进入步骤S570；S560 determines whether the time interval from the last time the GPS positioning function is turned off has reached a preset time interval, and if yes, proceeds to step S570;

S570开启所述GPS定位功能，并通过所述GPS定位获取用户的当前坐标位置数据，校准所述运动传感器定位产生的位置误差，返回步骤S550。S570 turns on the GPS positioning function, and acquires current coordinate position data of the user by using the GPS positioning, and calibrates the position error generated by the positioning of the motion sensor, and returns to step S550.
一种运用权利要求1-6任一项所述运动轨迹生成方法的运动轨迹生成装置，其特征在于，包括：A motion trajectory generating apparatus using the motion trajectory generating method according to any one of claims 1 to 6, characterized in that it comprises:

传感定位模块，用于采集用户的运动传感数据，获取用户的运动坐标位置数据；The sensing positioning module is configured to collect motion sensing data of the user and obtain motion coordinate position data of the user;

GPS定位模块，用于通过GPS定位用户的坐标位置；a GPS positioning module for positioning a user's coordinate position by GPS;

计算修正模块，用于根据所述运动传感模块、所述GPS采集的用户的当前坐标位置数据，获取坐标修正数据，修正所述传感定位模块获取的所述运动坐标位置数据；a calculation correction module, configured to acquire coordinate correction data according to the current coordinate position data of the motion sensor module and the user acquired by the GPS, and correct the motion coordinate position data acquired by the sensor positioning module;

轨迹生成模块，用于根据所述用户的运动坐标位置数据，生成运动轨迹；a trajectory generating module, configured to generate a motion trajectory according to the motion coordinate position data of the user;

控制模块，用于在所述GPS定位模块未完成定位前，控制所述传感定位模块获取所述用户的运动坐标位置数据；在所述GPS定位模块完成定位后，控制所述GPS定位模块、传感定位模块分别获取所述用户的当前坐标位置数据；再通过所述计算修正模块获取坐标修正数据，修正所述传感定位模块获取的所述运动坐标位置数据；控制所述轨迹生成模块根据修正后的运动坐标位置数据生成传感定位模块定位的用户的运动轨迹。a control module, configured to: after the GPS positioning module does not complete positioning, control the sensing positioning module to acquire motion coordinate position data of the user; after the GPS positioning module completes positioning, control the GPS positioning module, The sensing positioning module respectively acquires the current coordinate position data of the user; the coordinate correction data is acquired by the calculation correction module, and the motion coordinate position data acquired by the sensing positioning module is corrected; and the track generation module is controlled according to the The corrected motion coordinate position data generates a motion trajectory of the user positioned by the sensing positioning module.
根据权利要求7所述的一种运动轨迹生成装置，其特征在于，还包括：A motion trajectory generating apparatus according to claim 7, further comprising:

所述控制模块，还用于在所述GPS定位模块完成定位后，控制所述GPS定位模块获取所述用户的运动坐标位置数据，并通过所述轨迹生成模块生成所述GPS定位模块定位的用户的运动轨迹；The control module is further configured to: after the GPS positioning module completes positioning, control the GPS positioning module to acquire motion coordinate position data of the user, and generate a user that is located by the GPS positioning module by using the trajectory generating module; Motion track

所述运动轨迹生成装置还包括：The motion trajectory generating device further includes:

对接模块，用于对接所述传感定位模块定位的用户的运动轨迹与所述GPS定位模块定位的用户的运动轨迹，实现用户的运动轨迹记录。The docking module is configured to interface with the motion track of the user positioned by the sensing positioning module and the motion track of the user positioned by the GPS positioning module to implement the motion track record of the user.
根据权利要求7所述的一种运动轨迹生成装置，其特征在于，所述传感定位模块包括传感器中枢，及与所述传感器中枢连接的传感器；所述传感器包括加速度传感器、陀螺仪传感器、磁传感器。The motion trajectory generating apparatus according to claim 7, wherein the sensing positioning module comprises a sensor hub and a sensor connected to the sensor hub; the sensor comprises an acceleration sensor, a gyro sensor, and a magnetic sensor.
一种可穿戴设备，其特征在于，所述可穿戴设备包括权利要求7-9任一项所述的运动轨迹生成装置。A wearable device, characterized in that the wearable device comprises the motion trajectory generating device according to any one of claims 7-9.