WO2019037349A1 - Procédé et appareil de génération de trajectoire de mouvement, et dispositif pouvant être porté - Google Patents

Procédé et appareil de génération de trajectoire de mouvement, et dispositif pouvant être porté Download PDF

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Publication number
WO2019037349A1
WO2019037349A1 PCT/CN2017/116412 CN2017116412W WO2019037349A1 WO 2019037349 A1 WO2019037349 A1 WO 2019037349A1 CN 2017116412 W CN2017116412 W CN 2017116412W WO 2019037349 A1 WO2019037349 A1 WO 2019037349A1
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motion
user
gps
positioning
sensor
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PCT/CN2017/116412
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English (en)
Chinese (zh)
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王诚
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上海斐讯数据通信技术有限公司
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Publication of WO2019037349A1 publication Critical patent/WO2019037349A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Definitions

  • 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.
  • 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.
  • the software 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.
  • 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.
  • 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.
  • the invention discloses a motion trajectory generating method, which comprises:
  • the S100 collects motion sensing data of the user through the motion sensor
  • step 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 acquires coordinate correction data according to current coordinate position data of the user respectively acquired by the motion sensor and GPS positioning;
  • 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.
  • 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;
  • 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.
  • step S100 includes:
  • 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.
  • step S200 includes:
  • 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.
  • the method further includes:
  • step 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;
  • the position of a GPS fixed point before S760 is taken as the initial position.
  • the pedestrian position estimation algorithm is used to locate the position of the user, and the movement track of the user is improved.
  • the method further includes:
  • 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;
  • step 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 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.
  • 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;
  • 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
  • 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.
  • 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.
  • the present invention also discloses a wearable device comprising the motion trajectory generating device of the present invention.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 1 is a flow chart of an embodiment of a method for generating a motion trajectory according to the present invention
  • FIG. 2 is a flow chart of another embodiment of a method for generating a motion trajectory according to the present invention.
  • FIG. 3 is a flow chart of another embodiment of a method for generating a motion trajectory according to the present invention.
  • FIG. 4 is a flowchart of another embodiment of a method for generating a motion trajectory according to the present invention.
  • FIG. 5 is a block diagram of an embodiment of a motion trajectory generating apparatus according to the present invention.
  • FIG. 6 is a block diagram of another embodiment of a motion trajectory generating apparatus according to the present invention.
  • 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
  • the invention discloses a motion trajectory generating method, which is implemented as shown in FIG. 1 and includes:
  • the S100 collects motion sensing data of the user through the motion sensor
  • step 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 acquires coordinate correction data according to current coordinate position data of the user respectively acquired by the motion sensor and GPS positioning;
  • 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.
  • the embodiment is a method for generating a motion trajectory before the GPS positioning is completed.
  • 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.
  • 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.
  • 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.
  • the motion coordinate data of the user acquired by the motion sensor data collected by the motion sensor is:
  • the coordinate correction data ⁇ X can be obtained.
  • X m -X n , ⁇ Y Y m -Y n ;
  • FIG. 2 Another embodiment of the present invention, as shown in FIG. 2, includes:
  • the S100 collects motion sensing data of the user through the motion sensor
  • step 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 acquires coordinate correction data according to current coordinate position data of the user respectively acquired by the motion sensor and GPS positioning;
  • 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.
  • 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;
  • 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.
  • step S100 includes:
  • 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.
  • the step S200 includes:
  • 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.
  • 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.
  • MEMS sensors accelerometers, magnetometers, gyroscopes, and altimeters
  • PDR pedestrian dead reckoning
  • 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.
  • FIG. 3 Another embodiment of the present invention, as shown in FIG. 3, includes:
  • the S100 collects motion sensing data of the user through the motion sensor
  • step 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 acquires coordinate correction data according to current coordinate position data of the user respectively acquired by the motion sensor and GPS positioning;
  • 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.
  • 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 docks the motion track of the user positioned by the motion sensor and the motion track of the user positioned by the GPS;
  • step 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;
  • the position of a GPS fixed point before S760 is taken as the initial position.
  • the pedestrian position estimation algorithm is used to locate the position of the user, and the movement track of the user is improved.
  • 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.
  • 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.
  • the position of the previous GPS fixed point is used as the initial position.
  • 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.
  • 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.
  • FIG. 4 Another embodiment of the present invention, as shown in FIG. 4, includes:
  • the S100 collects motion sensing data of the user through the motion sensor
  • step 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 acquires coordinate correction data according to current coordinate position data of the user respectively acquired by the motion sensor and GPS positioning;
  • 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;
  • step 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 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.
  • 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.
  • 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.
  • 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.
  • 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. .
  • the present 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 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.
  • 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.
  • 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 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
  • 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.
  • a docking module 60 connected to the control module 50 is added to the above embodiment.
  • 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.
  • 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.
  • 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.
  • PDR pedestrian Dead Reckoning Algorithm
  • 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.
  • 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.
  • 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.
  • the signal strength acquisition module acquires the signal strength of the GPS
  • 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.
  • 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.
  • the PDR algorithm is used to estimate the motion coordinates of the user, and the motion track of the user is improved.
  • 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.
  • the implementation process reference may be made to the implementation process of the method embodiment of the present invention.
  • 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.
  • 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.
  • 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.
  • the wearable device 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).
  • PDR Pedestrian Dead Reckoning
  • the sensor hub 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.
  • 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.
  • This method turns on the GPS chip and starts positioning.
  • the sensor hub outputs a set of relative motion coordinates as the wearer takes one step.
  • the relative motion coordinates output by the PDR form a motion trajectory.
  • 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.
  • 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
  • the actual movement trajectory consists of:
  • 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.

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
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Abstract

L'invention concerne un procédé de génération de trajectoire de mouvement comprenant : l'utilisation d'un capteur de mouvement pour acquérir des données de détection de mouvement d'un utilisateur; l'obtention, en fonction des données de détection de mouvement acquises, de données de position de coordonnées de mouvement de l'utilisateur; la détermination si une fonction de positionnement GPS est déjà activée de manière à obtenir une position actuelle de l'utilisateur, et si tel est le cas, l'obtention, en fonction des données de position de coordonnées actuelle de l'utilisateur obtenues respectivement au moyen du capteur de mouvement et du positionnement GPS, de données de correction de coordonnées; et si tel n'est pas le cas, la correction, en fonction des données de correction de coordonnées, des données de position de coordonnées de mouvement obtenues au moyen du capteur de mouvement pour générer une trajectoire de mouvement de l'utilisateur positionné par le capteur de mouvement. L'invention concerne un appareil de génération de trajectoire de mouvement et un dispositif pouvant être porté. Le dispositif de génération de trajectoire de mouvement comprend un module de positionnement de capteur, un module de positionnement GPS, un module de correction de calcul, un module de génération de trajectoire et un module de commande. L'invention résout le problème selon lequel une trajectoire de mouvement d'un utilisateur ne sera pas disponible si un positionnement GPS n'est pas réalisé.
PCT/CN2017/116412 2017-08-22 2017-12-15 Procédé et appareil de génération de trajectoire de mouvement, et dispositif pouvant être porté WO2019037349A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710723580.0 2017-08-22
CN201710723580.0A CN107462260A (zh) 2017-08-22 2017-08-22 一种运动轨迹生成方法、装置及可穿戴设备

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