CN107543544A - Zero velocity detecting system in pedestrian's inertial navigation - Google Patents
Zero velocity detecting system in pedestrian's inertial navigation Download PDFInfo
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- CN107543544A CN107543544A CN201710812898.6A CN201710812898A CN107543544A CN 107543544 A CN107543544 A CN 107543544A CN 201710812898 A CN201710812898 A CN 201710812898A CN 107543544 A CN107543544 A CN 107543544A
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- inertial navigation
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Abstract
Zero velocity detecting system in pedestrian's inertial navigation of the present invention, include the multichannel pressure sensor module of the pressure condition for detecting pin；Multichannel analog-digital converter (ADC) data acquisition module for digitized pressure signal；Micro controller module for Data Management Analysis；For the pulse output module externally exported；For providing the power module of equipment work.The present invention can accurately obtain the real zero velocity moment, and simple in construction, easy to use, cost-effective.
Description
Technical field
The invention belongs to inertial navigation field, and in particular to one kind in pedestrian's inertial navigation can detect zero velocity detection
System.
Background technology
In no GPS or the Big Dipper signal place, such as interior, underground, personnel are positioned, it is impossible to adopt
With GPS or dipper system, and to be positioned using other methods.Common non-GPS location have RFID, UWB and
The modes such as WIFI, these modes are required for being that field of employment arranges a number of location equipment in advance, therefore these are positioned
The convenience of mode is poor, can not be used for burst accident or interim application scenarios.
Using the positioning method of inertial navigation, problems above can be overcome.The positioning method of inertial navigation, using adding
The inertial sensors such as speed, gyroscope and geomagnetic sensor (electronic compass), by carrying out Integral Processing to inertial sensor,
Speed is obtained by acceleration, then displacement is obtained by speed, so as to realize the track detection of target.Because sensor is constantly present respectively
Kind error, and Integral Processing causes the error of result of calculation, increases over time and can be continuously increased, therefore obtained by calculating
Velocity information and displacement information often deviate real numerical value, so as to cause positioning inaccurate.In order to solve error accumulation this
Individual problem, the most frequently used and most effective way are exactly to be detected using zero velocity, accurately detect pedestrian's zero velocity moment, so that it may
To eliminate the error constantly accumulated in integrated acceleration processing procedure.All kinds of methods of zero velocity detection, generally all utilize acceleration
The signal of sensor in itself is spent to be handled, and this mode still has certain error all the time.
The content of the invention
In order to solve the problems, such as to be proposed in background technology, the invention provides a kind of inspection of the zero velocity in pedestrian's inertial navigation
Examining system, it can accurately obtain the real zero velocity moment.
Zero velocity detecting system in a kind of pedestrian's inertial navigation proposed by the present invention, including multichannel pressure sensor mould
Block, multichannel analog-digital converter data acquisition module, micro controller module, pulse output module, power module；The multichannel pressure
Sensor assembly, for the pressure condition of pin to be converted into multi-channel analog electric signal and exported；Multi-channel analog electric signal output arrives
Multichannel analog-digital converter data acquisition module, analog-to-digital conversion is carried out, obtains digitized pressure signal；Digitized pressure signal
Analyzed and processed by micro controller module, so as to obtain the zero velocity moment in pedestrian's inertial navigation, and exported by pulse
Module, at the zero velocity moment that will be detected, exported, used for other equipment in the form of a pulse；Power module includes electricity
Pool unit, voltage conversion unit and to battery charging unit, power module are that multichannel pressure sensor module, multichannel modulus turn
Parallel operation data acquisition module, micro controller module and pulse output module provide power supply.
Further, the multichannel pressure sensor module includes 8 pressure sensors, is evenly distributed on the front portion of sole
And rear heel, the front portion of sole are evenly distributed with 5 pressure sensors, the rear heel of sole is evenly distributed with 3 pressure sensings
Device.
Further, the multichannel Modular circuit of pressure sensor is designed as electric resistance partial pressure mode and realized, 8 pressure sensings
The circuit of device is identical, and pressure sensor is 10K Ω piezo-resistance, piezo-resistance and a 10K Ω fixed resistance series connection, is pressed
The both ends of quick resistance add 3.3V voltage, obtain the pressure of pressure sensor by measuring the voltage of wherein one end, determine pin
At the time of landing.
Yet further, the micro controller module includes the STM32F407 chips of ST Microelectronics's production, micro-control
The kernel of device module processed is 32 ARM Cortex M4 processors, dominant frequency 168MHz；Built-in 1M bytes FLASH memory,
196K byte SRAM memories, the code of complicated data processing is realized for depositing, without extending external memory storage.
Further, the multichannel analog-digital converter data acquisition module is integrated with the analog-digital converter on 12,24 tunnel, enters
The digitlization conversion of row analog signal.
Further, the pulse output module integrates I/O interface, realizes the output of pulse.
Further, output signal A1~A8 of No. 8 pressure sensors, 8 road ADC of STM32F407 controllers are connected to
In input；Control dynamic adjusts the detection threshold value of pressure sensor signal, realizes motion detection when pin lands,
The OUT terminal mouth of STM32F407 controllers exports a pulse.
Yet further, the battery unit of the power module is 4.2V lithium battery, is changed by power conversion unit
3.3V output voltage is obtained, is powered to No. 8 pressure sensors and STM32F407 controllers, the electric power source pair of module battery list
The electricity of member is monitored, when the electricity of battery unit is inadequate, by USB charging inlets, and using+5V the voltages of USB interface,
4.2V lithium batteries are charged by lithium cell charging managing chip.
It is an advantage of the invention that：Using the detecting system of pedestrian's inertial navigation zero velocity of the present invention, can accurately obtain
The real zero velocity moment, and it is simple in construction, easy to use, cost-effective.
Brief description of the drawings
Fig. 1 is the system structure diagram of the present invention；
Fig. 2 is the multichannel pressure sensor distribution schematic diagram of one embodiment of the invention；
Fig. 3 is the multichannel pressure sensor wherein circuit diagram all the way of one embodiment of the invention；
Fig. 4 is the controller module block diagram of one embodiment of the invention；
Fig. 5 is the power module block diagram of one embodiment of the invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
Zero velocity detecting system in pedestrian's inertial navigation as shown in Figure 1, as shown in figure 1, including multichannel pressure sensing
Device module 1, multichannel analog-digital converter data acquisition module 2, micro controller module 3, pulse output module 4, power module 5；It is more
Road pressure sensor module 1, for the pressure condition of pin to be converted into multi-channel analog electric signal and exported；Multi-channel analog electric signal
Multichannel analog-digital converter data acquisition module 2 is output to, analog-to-digital conversion is carried out, obtains digitized pressure signal；It is digitized
Pressure signal is analyzed and processed by micro controller module 3, so as to obtain the zero velocity moment in pedestrian's inertial navigation, and is passed through
Pulse output module 4, at the zero velocity moment that will be detected, exported, used for other equipment in the form of a pulse；Power supply mould
Block 5 includes battery unit, voltage conversion unit and to battery charging unit, and power module 5 is multichannel pressure sensor module
1st, multichannel analog-digital converter data acquisition module 2, micro controller module 3 and pulse output module 4 provide power supply.
Referring to Fig. 2, multichannel pressure sensor module 1 includes 8 pressure sensors, is evenly distributed on the front portion of sole with after
Heel, the front portion of sole are evenly distributed with 5 pressure sensors, and the rear heel of sole is evenly distributed with 3 pressure sensors.
Referring to Fig. 3, the circuit design of multichannel pressure sensor module 1 is that electric resistance partial pressure mode is realized, 8 pressure sensors
Circuit is identical, and pressure sensor is 10K Ω piezo-resistance, piezo-resistance and 10K Ω fixed resistance series connection, pressure-sensitive electricity
The both ends of resistance add 3.3V voltage, obtain the pressure of pressure sensor by measuring the voltage of wherein one end, determine that pin lands
At the time of.
Referring to Fig. 4, micro controller module 3 includes the STM32F407 chips of ST Microelectronics's production, microcontroller mould
The kernel of block 3 is 32 ARM Cortex M4 processors, dominant frequency 168MHz；Built-in 1M bytes FLASH memory, 196K words
SRAM memory is saved, the code of complicated data processing is realized for depositing, without extending external memory storage；Multichannel analog-to-digital conversion
Device data acquisition module 2 is integrated with the analog-digital converter on 12,24 tunnel, carries out the digitlization conversion of analog signal.Pulse exports mould
Block 4 integrates I/O interface, realizes the output of pulse.Output signal A1~A8 of No. 8 pressure sensors, it is connected to STM32F407 controls
In 8 road ADC inputs of device processed；Control dynamic adjusts the detection threshold value of pressure sensor signal, realizes action inspection when pin lands
Survey, a pulse is exported in the OUT terminal mouth of STM32F407 controllers.
Referring to Fig. 5, the battery unit of power module 5 is 4.2V lithium battery, is converted to by power conversion unit
3.3V output voltage, powered to No. 8 pressure sensors and STM32F407 controllers, electricity of the power module 5 to battery unit
It is monitored, when the electricity of battery unit is inadequate, by USB charging inlets, using+5V the voltages of USB interface, by lithium electricity
Pond charging management chip charges to 4.2V lithium batteries.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
In the right of invention.
Claims (8)
- A kind of 1. zero velocity detecting system in pedestrian's inertial navigation, it is characterised in that：Including multichannel pressure sensor module (1), multichannel analog-digital converter data acquisition module (2), micro controller module (3), pulse output module (4), power module (5)；The multichannel pressure sensor module (1), for the pressure condition of pin to be converted into multi-channel analog electric signal and exported；It is more Road analog electrical signal is output to multichannel analog-digital converter data acquisition module (2), carries out analog-to-digital conversion, obtains digitized pressure Signal；Digitized pressure signal is analyzed and processed by micro controller module (3), so as to obtain zero in pedestrian's inertial navigation The speed moment, and by pulse output module (4), at the zero velocity moment that will be detected, exported in the form of a pulse, for it He uses equipment；Power module (5) includes battery unit, voltage conversion unit and to battery charging unit, power module (5) It is defeated for multichannel pressure sensor module (1), multichannel analog-digital converter data acquisition module (2), micro controller module (3) and pulse Go out module (4) and power supply is provided.
- 2. the zero velocity detecting system in pedestrian's inertial navigation according to claim 1, it is characterised in that：The multichannel pressure Force snesor module (1) includes 8 pressure sensors, is evenly distributed on front portion and the rear heel of sole, the front portion of sole is uniformly 5 pressure sensors are distributed with, the rear heel of sole is evenly distributed with 3 pressure sensors.
- 3. the zero velocity detecting system in pedestrian's inertial navigation according to claim 2, it is characterised in that：The multichannel pressure Force snesor module (1) circuit design is that electric resistance partial pressure mode realizes that the circuit of 8 pressure sensors is identical, pressure sensor For 10K Ω piezo-resistance, piezo-resistance and a 10K Ω fixed resistance series connection, the both ends of piezo-resistance add 3.3V electricity Pressure, the pressure of pressure sensor is obtained by measuring the voltage of wherein one end, at the time of determining that pin lands.
- 4. the zero velocity detecting system in pedestrian's inertial navigation according to claim 3, it is characterised in that：The microcontroller Device module (3) includes the STM32F407 chips of ST Microelectronics's production, and the kernel of micro controller module (3) is 32 ARM Cortex M4 processors, dominant frequency 168MHz；Built-in 1M bytes FLASH memory, 196K byte SRAM memories, for depositing The code for realizing complicated data processing is put, without extending external memory storage.
- 5. the zero velocity detecting system in pedestrian's inertial navigation according to claim 1, it is characterised in that：The multichannel mould Number converter data acquisition module (2) is integrated with the analog-digital converter on 12,24 tunnel, carries out the digitlization conversion of analog signal.
- 6. the zero velocity detecting system in pedestrian's inertial navigation according to claim 1, it is characterised in that：The pulse is defeated Go out module (4) and integrate I/O interface, realize the output of pulse.
- 7. the zero velocity detecting system in pedestrian's inertial navigation according to claim 4, it is characterised in that：8 tunnel pressure pass Output signal A1~A8 of sensor, it is connected in 8 road ADC inputs of STM32F407 controllers；Control dynamic adjustment pressure sensing The detection threshold value of device signal, motion detection when pin lands is realized, an arteries and veins is exported in the OUT terminal mouth of STM32F407 controllers Punching.
- 8. the zero velocity detecting system in pedestrian's inertial navigation according to claim 7, it is characterised in that：The power supply mould The battery unit of block (5) is 4.2V lithium battery, and 3.3V output voltage is converted to by power conversion unit, is pressed to 8 tunnels Force snesor and the power supply of STM32F407 controllers, the power module (5) are monitored to the electricity of battery unit, work as battery When the electricity of unit is inadequate, by USB charging inlets, using+5V the voltages of USB interface, by lithium cell charging managing chip 4.2V lithium batteries are charged.
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| CN201710812898.6A CN107543544A (en) | 2017-09-11 | 2017-09-11 | Zero velocity detecting system in pedestrian's inertial navigation |
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| CN201710812898.6A CN107543544A (en) | 2017-09-11 | 2017-09-11 | Zero velocity detecting system in pedestrian's inertial navigation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109489694A (en) * | 2019-01-02 | 2019-03-19 | 中国船舶重工集团公司第七0七研究所 | A kind of individual soldier's navigation system zero-speed detection method of voltage sensitive sensor auxiliary |
| CN113092819A (en) * | 2021-04-14 | 2021-07-09 | 东方红卫星移动通信有限公司 | Dynamic zero-speed calibration method and system for foot accelerometer |
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| JP2008002942A (en) * | 2006-06-22 | 2008-01-10 | Yamaha Motor Electronics Co Ltd | Vessel speed display apparatus |
| KR20170082035A (en) * | 2016-01-05 | 2017-07-13 | 엘지전자 주식회사 | Smart shoes |
| CN106017461A (en) * | 2016-05-19 | 2016-10-12 | 北京理工大学 | Pedestrian navigation system three-dimensional spatial positioning method based on human/environment constraints |
| CN106482733A (en) * | 2016-09-23 | 2017-03-08 | 南昌大学 | Zero velocity update method based on plantar pressure detection in pedestrian navigation |
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| CN109489694A (en) * | 2019-01-02 | 2019-03-19 | 中国船舶重工集团公司第七0七研究所 | A kind of individual soldier's navigation system zero-speed detection method of voltage sensitive sensor auxiliary |
| CN113092819A (en) * | 2021-04-14 | 2021-07-09 | 东方红卫星移动通信有限公司 | Dynamic zero-speed calibration method and system for foot accelerometer |
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Application publication date: 20180105 |