WO2018149324A1

WO2018149324A1 - Detection method and terminal device

Info

Publication number: WO2018149324A1
Application number: PCT/CN2018/075384
Authority: WO
Inventors: 董振江; 谢思远; 韦薇; 裴凌; 刘东辉
Original assignee: 中兴通讯股份有限公司
Priority date: 2017-02-14
Filing date: 2018-02-06
Publication date: 2018-08-23
Also published as: CN108426573B; CN108426573A

Abstract

A detection method and a terminal device. The method comprises: acquiring an attitude angle of a terminal device relative to a ground coordinate system (S101); acquiring a carrying mode of the terminal device (S102); and when the carrying mode of the terminal device is a hand-shaking mode, detecting a pedestrian gait event by means of the attitude angle (S103).

Description

Detection method and terminal device

Technical field

The present disclosure relates to, but is not limited to, the field of positioning technology, and in particular, a detection method and a terminal device.

Background technique

With the development of location technology, the demand for location based services (LBS) is increasing. In an outdoor environment, the Global Navigation Satellite System (GNSS) is widely used to meet the needs of outdoor navigation and positioning. However, in an indoor environment or in an environment where buildings are blocked, attenuation and multipath effects due to occlusion of satellite signals may cause the accuracy of satellite positioning to deteriorate or even be unusable. Therefore, accurate positioning and navigation in the room can be achieved by other positioning techniques. The ever-increasing computing and sensor capabilities of smartphones and other mobile devices have facilitated the adoption of emerging technologies in the personal LBS field.

Among many positioning technologies, Pedestrian Dead Reckoning (PDR) is a commonly used indoor positioning technology. Compared with other indoor positioning methods, the method has lower cost and can not provide additional base station facilities, but can realize autonomous positioning and navigation by using mobile terminal self-contained sensors to collect human motion information and direction information.

The method collects information such as acceleration, angular velocity and magnetic field strength from the self-contained sensor, and then calculates the walking direction of the pedestrian. Combined with the gait detection and the step estimation, the walking direction and the step length of the pedestrian are calculated, and the pedestrian is calculated from the previous position. The current location.

Summary of the invention

The following is an overview of the topics detailed in this document. This Summary is not intended to limit the scope of the claims.

Gait detection is at the heart of PDR technology because gait events are key to driving pedestrian position updates and calculation steps. Inadequate gait detection can result in errors in the step size estimate and the PDR cannot update the position.

The commonly used method of gait detection is to process the acceleration information collected by the mobile terminal. For example, the sliding window of different lengths is used to process and detect the amplitude of the acceleration information, and the gait detection is performed by using the regularity of the pedestrian walking to generate acceleration. Usually, this method can achieve better gait detection results. However, since the method requires the user to keep the mobile terminal relatively stationary with the user, and if the user constantly changes the position of the terminal during the positioning process (such as holding the arm in the hand), the acceleration signal causing the state change at this time will affect such gait. The judgment of the detection algorithm causes a large error, and a false detection or a missed detection occurs.

The embodiment of the present disclosure provides a detection method and a terminal device, which can prevent the gait detection method from being greatly changed or not being used normally when the position of the terminal device is continuously changed.

Embodiments of the present disclosure provide a detection method, including the following steps:

Obtaining an attitude angle of the terminal device relative to the earth coordinate system;

Obtain the carrying mode of the terminal device;

When the carrying mode of the terminal device is the pick-up mode, the pedestrian gait event is detected by the attitude angle.

In an exemplary embodiment, acquiring an attitude angle of the terminal device relative to the earth coordinate system includes:

Obtaining acceleration, angular velocity, and earth magnetic field strength in a preset coordinate system corresponding to the terminal device;

Based on the acceleration, angular velocity, and earth magnetic field strength, the attitude angle of the terminal device relative to the earth coordinate system is calculated.

In an exemplary embodiment, acquiring acceleration, angular velocity, and earth magnetic field strength in a preset coordinate system corresponding to the terminal device includes:

The acceleration is obtained by the accelerometer of the terminal device, the angular velocity is obtained by the gyroscope of the terminal device, and the strength of the earth magnetic field is obtained by the magnetometer of the terminal device;

When the sampling frequencies of acceleration, angular velocity, and earth magnetic field strength are inconsistent, a predetermined number of spline interpolations are performed on acceleration, angular velocity, and earth magnetic field strength;

Low-pass filtering of acceleration, angular velocity, and Earth's magnetic field strength.

In an exemplary embodiment, calculating an attitude angle of the terminal device relative to the earth coordinate system according to the acceleration, the angular velocity, and the earth magnetic field strength includes:

When the earth magnetic field strength is less than the first preset value, the acceleration, the angular velocity and the earth magnetic field strength are brought into the attitude heading reference system;

When the earth magnetic field strength is greater than or equal to the first preset value, the acceleration and angular velocity are brought into the attitude heading reference system;

The attitude angle is output from the attitude heading reference system.

In an exemplary embodiment, acquiring a carrying manner of the terminal device includes:

Collecting acceleration and speed information of the terminal device in the first preset time;

Obtaining a gravity component and a linear acceleration component from the acceleration information;

Selecting a feature value from a gravity component of the acceleration, a linear acceleration component, and a velocity;

The sensor information of the terminal device is obtained, and the type of the carrying mode is determined according to the classification rule, wherein the classification rule is determined according to the numerical distribution feature of the feature value in different carrying modes.

In an exemplary embodiment, the gait event of the pedestrian is detected by the attitude angle, including:

Low-pass filtering the acquired attitude angle to extract a pitch angle among a plurality of posture angles stored in the second preset time;

Determining a gait event when there is an extreme value in the extracted plurality of elevation angles, and the condition includes: a minimum value of the plurality of elevation angles is less than a second preset value, or The maximum value of the pitch angles is greater than the third preset value, or the minimum of the plurality of pitch angles is smaller than the second preset value and the maximum value of the plurality of pitch angles is greater than the third pre- Set the value.

The embodiment of the present disclosure further provides a terminal device, which is applicable to the foregoing detection method, and includes:

An attitude angle acquisition module: configured to acquire an attitude angle of the terminal device relative to the earth coordinate system;

Carrying mode acquisition module: set to obtain the carrying mode of the terminal device;

Detection module: set to detect pedestrian gait events through the attitude angle when the carrying mode of the terminal device is the hand-held mode.

In an exemplary embodiment, the attitude angle acquisition module includes:

An information acquiring unit: configured to acquire acceleration, angular velocity, and earth magnetic field strength in a preset coordinate system corresponding to the terminal device;

An attitude angle calculation unit: configured to calculate an attitude angle of the terminal device relative to the earth coordinate system according to the acceleration, the angular velocity, and the earth magnetic field strength;

The information obtaining unit includes:

a first acquiring subunit: configured to acquire an acceleration by an accelerometer of the terminal device, obtain an angular velocity by a gyroscope of the terminal device, and acquire an earth magnetic field strength by a magnetometer of the terminal device;

The first processing subunit is configured to perform a predetermined number of spline interpolation on the acceleration, the angular velocity, and the earth magnetic field strength when the sampling frequencies of the acceleration, the angular velocity, and the earth magnetic field strength are inconsistent;

a second processing subunit: configured to low pass filter the acceleration, angular velocity, and earth magnetic field strength;

The attitude angle calculation unit includes:

The first calculating subunit is configured to bring the acceleration, the angular velocity and the earth magnetic field strength into the attitude heading reference system when the earth magnetic field strength is less than the first preset value;

The second calculating subunit is configured to bring the acceleration and the angular velocity into the attitude heading reference system when the earth magnetic field strength is greater than or equal to the first preset value;

Output subunit: Set to output the attitude angle from the attitude heading reference system.

In an exemplary embodiment, the carry mode acquisition module includes:

Reference unit: configured to collect acceleration and speed information of the terminal device in the first preset time period;

Acquiring unit: configured to obtain a gravity component and a linear acceleration component from the acceleration information;

Assignment unit: set to select a feature value from the gravity component of the acceleration, the linear acceleration component, and the velocity;

The determining unit is configured to obtain the sensor information of the terminal device, and determine the carrying mode according to the classification rule, wherein the classification rule is determined according to the numerical distribution feature of the feature value in different carrying modes.

In an exemplary embodiment, the detecting module includes:

Extracting unit: configured to low-pass filter the acquired posture angle, and extract a pitch angle among the plurality of posture angles stored in the second preset time;

a determining unit: configured to determine a gait event when the extracted plurality of pitch angles have an extreme value and the condition is satisfied, the condition comprising: a minimum value of the plurality of pitch angles is less than a second preset value, or a maximum value of the plurality of pitch angles is greater than a third preset value, or a minimum value of the plurality of pitch angles is less than a second preset value and a maximum value of the plurality of pitch angles Greater than the third preset value.

Embodiments of the present disclosure also provide a computer readable storage medium storing computer executable instructions that are implemented when the computer executable instructions are executed.

The embodiment of the present disclosure obtains the attitude angle of the terminal device relative to the earth coordinate system and the carrying mode of the terminal device. When the carrying mode of the terminal device is the hand-held mode, the pedestrian gait event is detected by the attitude angle, thereby ensuring that the gait detection algorithm is In the case of pickpockets, the error is small, it can be used normally, the operation process is simple, and it is easy to implement.

Other aspects will be apparent upon reading and understanding the drawings and detailed description.

BRIEF abstract

1 is a flow chart of a detecting method of a first embodiment of the present disclosure;

2 is a flowchart of a detecting method according to a second embodiment of the present disclosure;

FIG. 3 is a flowchart of a detecting method according to a third embodiment of the present disclosure; FIG.

4 is a flowchart of a detection method according to a fourth embodiment of the present disclosure;

FIG. 5 is a flowchart of a detecting method according to a fifth embodiment of the present disclosure; FIG.

6 is a data diagram of the mean value of the absolute value of the gravity acceleration of the X-axis in the preset coordinate system in different carrying modes according to the fifth embodiment of the present disclosure. The abscissa in the figure represents different carrying modes, from 0 to 12: Static, SMS mode walking, phone mode walking, pocket mode walking, arm-arm mode walking, SMS mode running, phone mode running, pocket mode running, arm-arm mode running, going up the stairs, going down the stairs, lifting the elevator and descending the elevator;

7 is a data diagram of an average value of absolute values of the gravitational acceleration of the Y-axis in a different carrying mode in a preset coordinate system according to a fifth embodiment of the present disclosure;

8 is a data diagram of an average value of absolute values of gravity acceleration of a Z-axis in a different carrying mode in a preset coordinate system according to a fifth embodiment of the present disclosure;

FIG. 9 is a data diagram of the mean value of the absolute value of the linear acceleration in different carrying modes according to the fifth embodiment of the present disclosure; FIG.

10 is a data diagram of an average value of an absolute value of an angular velocity of an X-axis in a different carrying mode in a preset coordinate system according to a fifth embodiment of the present disclosure;

11 is a data diagram of an average value of an absolute value of an angular velocity of a Y-axis in a different carrying mode in a preset coordinate system according to a fifth embodiment of the present disclosure;

12 is a data diagram of an average value of an absolute value of an angular velocity of a Z-axis in a different carrying mode in a preset coordinate system according to a fifth embodiment of the present disclosure;

13 is a data diagram of a linear acceleration variance of a Z-axis in a different carrying mode in a preset coordinate system according to a fifth embodiment of the present disclosure;

FIG. 14 is a flowchart of a detecting method according to a sixth embodiment of the present disclosure; FIG.

15 is a pitch angle curve of a terminal device passing through a closed path close to a rectangle in a hand mode according to a sixth embodiment of the present disclosure;

FIG. 16 is a schematic structural diagram of a terminal device according to a seventh embodiment of the present disclosure.

Preferred embodiment of the present disclosure

Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

First embodiment

Referring to FIG. 1, a flow chart of a detection method for detecting a pedestrian gait of a terminal device is illustrated. The detection method includes the following steps:

S101. Acquire an attitude angle of the terminal device relative to the earth coordinate system.

The geodetic coordinate system (Geodetic Coordinate System) refers to a coordinate system established by using a reference ellipsoid as a reference plane in geodetic survey. The three coordinate components of the geodetic coordinate system are earth longitude, earth latitude and earth height.

The above-described attitude angle may include one or more of a roll, a pitch, and a yaw of the terminal device, wherein the pitch angle is an angle of rotation about the Y-axis of the preset coordinate system.

S102. Obtain a carrying manner of the terminal device.

The carrying mode of the terminal device may include a pick-up mode and other modes, and other modes refer to a mode in addition to the pick-up mode.

The pick-up mode means that the terminal device swings. For example, the terminal device swings with the arm in the hand, and the relative position of the terminal device changes periodically (for example, relative to the human body), and the attitude angle of the terminal device also changes, for example, changes with the swing of the arm. .

In this embodiment, the carrying mode of the terminal device may be implemented by a related algorithm of pattern recognition, or may be implemented by performing judgment based on other relatively obvious dynamic features. Therefore, the manner of determining the carrying mode is not limited.

S103. When the carrying mode of the terminal device is the handcuff mode, the pedestrian gait event is detected by the posture angle.

When the carrying mode of the terminal device is the pick-up mode, the posture of the terminal device can be periodically changed, ideally approximated as a pendulum clock motion, and the periodicity of the terminal device can be used to change the attitude angle of the terminal device with the actual physics. The walking of the movement corresponds to the gait detection.

In summary, in this embodiment, by acquiring the attitude angle of the terminal device relative to the geodetic coordinate system and the carrying mode of the terminal device, when the carrying mode is the handcuff mode, the gait event of the pedestrian is detected by the posture angle, thereby ensuring the gait detection. The algorithm has less error in the case of pickpockets and can be used normally.

Second embodiment

Referring to FIG. 2, there is shown a flow chart of another detection method, which can be used to detect a pedestrian gait of a terminal device, and the detection method includes the following steps:

S201. Acquire acceleration, angular velocity, and earth magnetic field strength in a preset coordinate system corresponding to the terminal device.

In this embodiment, the acceleration, angular velocity, and earth magnetic field strength in the preset coordinate system can be respectively acquired by an accelerometer, a gyroscope, and a magnetometer mounted on the terminal device, where the preset coordinate system refers to a carrier coordinate system, that is, the terminal device itself. Coordinate System.

S202. Calculate an attitude angle of the terminal device relative to the earth coordinate system according to the acceleration, the angular velocity, and the earth magnetic field strength.

In this embodiment, the attitude heading reference system AHRS can obtain the attitude angle of the terminal device relative to the geodetic coordinate system according to the acceleration, the angular velocity, and the earth magnetic field strength. The system can include a plurality of axial sensors that can provide attitude information to the terminal device, for example, the attitude information includes one or more of a roll angle, a pitch angle, and a heading angle.

Obtaining the attitude angle using the attitude heading reference system may be an optimal solution for solving the current attitude angle by a gradient descent algorithm according to the quaternion differential equation, and the quaternion is a four-dimensional super complex number consisting of one real number plus three imaginary numbers, which can represent The rotation of the terminal device in space, ie the attitude in the earth coordinate system.

S203. Obtain a carrying manner of the terminal device.

The carrying manner of the terminal device may include a pick-up mode and other modes, and other modes refer to a mode collective except the pick-up mode.

The pick-up mode refers to the swinging of the terminal device. For example, the terminal device swings with the arm of the carrier in the hand of the carrier, and the relative position of the terminal device changes periodically (for example, relative to the human body), and the attitude angle of the terminal device also changes, for example, It changes with the swing of the arm.

In this embodiment, the carrying mode of the terminal device may be implemented by a related algorithm of pattern recognition, or may be determined based on other relatively obvious dynamic features. Therefore, the manner of determining the carrying mode is not limited.

S204: When the carrying mode of the terminal device is the pick-up mode, the pedestrian gait event is detected by the attitude angle.

In summary, the embodiment obtains the attitude angle of the geodetic coordinate system by acquiring the acceleration, the angular velocity, and the earth magnetic field strength of the terminal device, and acquires the carrying mode of the terminal device. When the carrying mode is the picking mode, the pedestrian is detected by the posture angle. Gait events can ensure that the gait detection algorithm has less error in the case of pickpockets and can be used normally.

Third embodiment

Referring to FIG. 3, there is shown a flow chart of still another detection method, which can be used to detect a pedestrian gait of a terminal device, and the detection method includes the following steps:

S301: Acquire an acceleration by an accelerometer of the terminal device, obtain an angular velocity by a gyroscope of the terminal device, and acquire an earth magnetic field strength by using a magnetometer of the terminal device.

The above preset coordinate system refers to the carrier coordinate system, that is, the coordinate system of the terminal device itself. Alternatively, the terminal device (for example, the mobile terminal) can be controlled by software, for example, by opening the software and then acquiring the acceleration, the angular velocity, and the earth magnetic field strength by the accelerometer, the gyroscope, and the magnetometer built in the terminal device, respectively.

The above software may be software that can detect the user's walking event. When the software is opened, the arm can be naturally oscillated while the terminal device is walking, and the software records acceleration, angular velocity and earth magnetic field strength data.

Optionally, the accelerometer, the gyroscope, and the magnetometer in the terminal device respectively obtain acceleration, angular velocity, and earth magnetic field strength corresponding to the X, Y, and Z axes in the preset coordinate system, that is, obtain acceleration, angular velocity, and earth magnetic field strength, respectively. Acceleration, angular velocity, and earth magnetic field strength in the direction of the three axes of X, Y, and Z relative to the preset coordinate system.

S302: determining whether the sampling frequencies of the acceleration, the angular velocity, and the earth magnetic field strength are consistent. If not, the process proceeds to step S303; if they are the same, the process proceeds directly to step S304.

S303, acceleration, angular velocity, and earth magnetic field strength are subjected to a predetermined number of spline interpolations.

The sampling frequency can be calculated separately for acceleration, angular velocity and earth magnetic field strength. When the sampling frequency is inconsistent, a predetermined number of spline interpolation is performed on the lower frequency data, for example, cubic spline interpolation to keep the data frequency of the sensor consistent. After the processing, the process proceeds to step S304.

S304: Perform low-pass filtering on acceleration, angular velocity, and earth magnetic field strength.

The acceleration, angular velocity and earth magnetic field strength signals with the same frequency or uniform frequency after processing can be low-pass filtered to filter out high-frequency interference signals and obtain stable data.

In the above low-pass filter mode, the low-frequency signal can pass normally, and the high-frequency signal exceeding the set threshold can be blocked and weakened, and can also be called a high-cut filter.

S305. Calculate an attitude angle of the terminal device relative to the earth coordinate system according to the acceleration, the angular velocity, and the earth magnetic field strength.

In this embodiment, the attitude heading reference system AHRS can obtain the attitude angle of the terminal device relative to the geodetic coordinate system according to the acceleration, the angular velocity, and the earth magnetic field strength. The system can include a plurality of axial sensors that can provide attitude information to the terminal device.

S306. Obtain a carrying manner of the terminal device.

The pick-up mode means that the terminal device swings. For example, the terminal device swings with the carrier's arm in the carrier's hand, and the relative position of the terminal device changes periodically (for example, relative to the human body), and the attitude angle of the terminal device also changes, for example, with the arm. The swing changes.

S307. When the carrying mode of the terminal device is the handcuff mode, the gait event of the pedestrian is detected by the posture angle.

When the carrying mode of the terminal device is the pick-up mode, the posture of the terminal device will change periodically, and the idealized approximation is the pendulum clock motion. With this periodic law, the attitude angle of the terminal device can be changed with the actual physics. The walking of the movement corresponds to the gait detection.

In summary, the present embodiment obtains the attitude angle of the geodetic coordinate system on the basis of obtaining the acceleration of the terminal device, the angular velocity, and the strength of the earth magnetic field, and obtains the attitude mode of the ground coordinate system, and acquires the carrying mode of the terminal device. In the mode, the pedestrian's gait event is detected by the attitude angle, which ensures that the gait detection algorithm has less error in the case of pickpockets and can be used normally.

Fourth embodiment

Referring to FIG. 4, there is shown a flow chart of another detection method, which can be used to detect a pedestrian gait of a terminal device, and the detection method includes the following steps:

S401. Acquire acceleration, angular velocity, and earth magnetic field strength in a preset coordinate system corresponding to the terminal device.

S402. Determine whether the strength of the earth magnetic field is less than a first preset value. If the value is less than the first preset value, proceed to step S403; if not less than the first preset value, proceed to step S404.

In this embodiment, by determining the relationship between the strength of the earth magnetic field and the first preset value (ie, the preset threshold), it is possible to obtain a situation in which the terminal device is interfered by the magnetic field.

S403. Bring acceleration, angular velocity and earth magnetic field strength into the attitude heading reference system.

Obtaining the attitude angle using the attitude heading reference system may be an optimal solution for solving the current attitude angle by a gradient descent algorithm according to the quaternion differential equation, and the quaternion is a four-dimensional super complex number consisting of one real number plus three imaginary numbers, which can represent The rotation of the terminal device in space, ie the attitude in the earth coordinate system:

q=(q ₀ ,q ₁ ,q ₂ ,q ₃ )

Where q ₀ represents the amplitude of the rotation, and q ₁ , q ₂ , q ₃ represent the rotational axis of rotation. The method of expressing the pose by quaternion is computationally efficient and convenient for interpolation.

The attitude heading reference system can include two modes: a nine-axis mode including acceleration, angular velocity, and magnetic field strength, and a six-axis mode including acceleration and angular velocity. Because the acceleration, angular velocity, and magnetic field strength are all three-dimensional vectors, the mode can be named based on the sensor data used.

In this step, the earth magnetic field strength can be less than the preset threshold, indicating that the terminal device is in a place where the magnetic field interference is small, and the nine-axis mode is applicable at this time. In this way, the obtained attitude angle is less affected by the magnetic field and is more accurate.

S404. Bring acceleration and angular velocity into the attitude heading reference system.

In this step, the earth magnetic field strength may be greater than or equal to the first preset value (preset threshold), indicating that the terminal device is in a place where the magnetic field interference is relatively large, and the real earth magnetic field strength is difficult to obtain, and the six-axis mode is applicable at this time. However, the initial attitude angle can be determined using a nine-axis mode.

S405. Acquire an attitude angle from the attitude heading reference system.

In this embodiment, the six-axis mode or the nine-axis mode using the attitude heading reference system can be selected by the strength of the earth magnetic field to determine the required attitude angle.

S406. Obtain a carrying manner of the terminal device.

The pick-up mode means that the terminal device swings with the carrier's arm in the carrier's hand, and the relative position of the terminal device (for example, relative to the human body) changes periodically, and the attitude angle of the terminal device also changes.

S407. When the carrying mode of the terminal device is the pick-up mode, the gait event of the pedestrian is detected by the posture angle.

It should be noted that the terminal device referred to in this embodiment may be any mobile device having the functions of measuring acceleration, angular velocity and earth magnetic field strength, and of course, any pedestrian or terminal that can carry the terminal device in real time through communication. Mobile device for current acceleration, angular velocity and Earth's magnetic field strength of the device.

In summary, the embodiment obtains the acceleration, angular velocity, earth magnetic field strength and the carrying mode of the terminal device of the terminal device, and uses different attitude heading reference system modes to calculate the attitude angle according to the interference condition of the magnetic field, when the carrying mode is the picking mode. By detecting the gait event of the pedestrian through the attitude angle, it is ensured that the gait detection algorithm has less error in the case of picking up the hand, and the algorithm is guaranteed to be used normally.

Fifth embodiment

Referring to FIG. 5, there is shown a flow chart of still another detection method, which can be used to detect a pedestrian gait of a terminal device, and the detection method includes the following steps:

S501. Acquire acceleration, angular velocity, and earth magnetic field strength in a preset coordinate system corresponding to the terminal device.

S502. Calculate an attitude angle of the terminal device relative to the earth coordinate system according to the acceleration, the angular velocity, and the earth magnetic field strength.

In this embodiment, the attitude heading reference system can obtain the attitude angle of the terminal device relative to the geodetic coordinate system according to the acceleration, the angular velocity, and the earth magnetic field strength. The system can include a plurality of axial sensors that can provide attitude information to the carrier, ie, the terminal device, for example, one or more of a roll angle, a pitch angle, and a heading angle.

Obtaining the attitude angle using the attitude heading reference system may be an optimal solution for solving the current attitude angle by a gradient descent algorithm according to the quaternion differential equation, and the quaternion is a four-dimensional super complex number consisting of one real number plus three imaginary numbers, which can represent The rotation of the terminal device in space.

In this embodiment, the pitch angle can be used, and the pitch angle is an angle of rotation about the Y axis of the preset coordinate system. The use of the angle for gait detection is not affected by the walking direction of the pedestrian, and has high stability.

S503. Acquire a carrying mode of the terminal device.

In this embodiment, the carrying manner of the terminal device may include a pick-up mode and other modes, and other modes refer to a mode collective except the pick-up mode.

In this embodiment, the carrying mode of the terminal device can be implemented by using a pattern recognition method, including the following steps:

S5031: Acquire acceleration and speed information of the terminal device in the first preset time.

S5032, extracting a gravity component and a linear acceleration component from the acceleration information.

S5033: Select a feature value from a gravity component of the acceleration, a linear acceleration component, and a velocity.

Optionally, the absolute value of the gravity component projected on the coordinate system of the preset coordinate system, the absolute value of the linear acceleration in the horizontal and vertical directions, and the absolute value of the angular velocity projected on the coordinate system of the preset coordinate system are selected as the feature values.

S5034: Obtain sensor information of the terminal device, and determine a type of the carrying mode according to the classification rule, where the classification rule is determined according to a numerical distribution feature of the feature value in different carrying modes.

The above identification for different carrying modes may be a decision tree-based pattern recognition method. Referring to FIG. 6 to FIG. 13 , the most obvious feature values in different motion states and carrying modes have different numerical distribution features. The horizontal axis represents 13 carrying modes, and the abscissa from 0 to 12 are: still, SMS mode walking, phone mode walking, pocket mode walking, arm-arm mode walking, SMS mode running, phone mode running, pocket mode running, 甩The arm mode runs, goes up the stairs, goes down the stairs, the elevator goes up and the elevator goes down.

The classification rule of the carrying mode may be determined according to the statistical features in the statistical results in the figure, so that the sensor information collected by the terminal device is used to classify and determine the carrying mode to determine whether it is a pick-up mode, and of course, it may also be based on other obvious The dynamic feature is determined. In this embodiment, the manner of determining the carrying mode is not limited.

S504: When the carrying mode of the terminal device is the pick-up mode, the gait event of the pedestrian is detected by the posture angle.

In summary, the embodiment obtains the attitude angle of the terminal device relative to the geodetic coordinate system and the carrying mode of the terminal device, and determines the carrying mode by collecting the speed information and the acceleration information by using the sensor, and when the carrying mode is the picking mode, The attitude angle detects pedestrian gait events, which can ensure that the gait detection algorithm has less error in the case of pickpockets and can be used normally.

Sixth embodiment

Referring to FIG. 14, there is shown a flow chart of still another detection method, which can be used to detect a pedestrian gait of a terminal device, and the detection method includes the following steps:

S1401: Acquire acceleration, angular velocity, and earth magnetic field strength in a preset coordinate system corresponding to the terminal device.

S1402: Calculate an attitude angle of the terminal device relative to the earth coordinate system according to the acceleration, the angular velocity, and the earth magnetic field strength.

In this embodiment, the attitude heading reference system can obtain the attitude angle of the terminal device relative to the geodetic coordinate system according to the acceleration, the angular velocity, and the earth magnetic field strength. The system can include a plurality of axial sensors that can provide attitude information to the carrier, ie, the terminal device, such as one or more of a roll angle, a pitch angle, and a heading angle.

S1403. Obtain a carrying mode of the terminal device.

S1404: Determine whether the carrying mode of the terminal device is the pick-up mode. If the mode is the hand-held mode, the process proceeds to step S1405. If the hand-held mode is not, the process may be ended.

S1405: Low-pass filtering the acquired attitude angle, and extracting a pitch angle among the plurality of posture angles stored in the second preset time.

In this embodiment, the attitude angle of a certain time (for example, the second preset time) may be stored.

S1406: determining whether there is a minimum value point among the plurality of elevation angles, and if there is a minimum value point, the process proceeds to step S1407; if there is no minimum value point, the process proceeds to step S1408.

S1407. Determine whether the minimum value of the pitch angle is smaller than the second preset value. If the value is smaller than the second preset value, the process proceeds to step S1410. If the second preset value is not less than the second preset value, the process may end.

S1408. Determine whether there is a maximum value point for the plurality of elevation angles. If there is a maximum value point, proceed to step S1409; if there is no maximum value point, the flow may end.

S1409. Determine whether the maximum value of the pitch angle is greater than a third preset value. If the value is greater than the third preset value, the process proceeds to step S1410. If the value is not greater than the third preset value, the process may end.

S1410, output gait event.

In this embodiment, when there is an extreme point in the pitch angle, the second preset value and the third preset value, that is, the a priori threshold, may be used to check the extreme point to filter out the influence of the minute action on the method. , providing the robustness of the method.

In this embodiment, FIG. 15 is finally obtained, which is a pitch angle curve obtained by the carrying terminal device walking in a close-to-rectangular closed path in the hand mode, wherein the circle represents a maximum value and a minimum value, that is, the method considers The gait detection point, as can be seen from the figure, the pitch angle curve produces a periodic variation of the approximate sinusoidal function with the swing of the arm, and is less affected by the actual direction of travel of the pedestrian.

In summary, the present embodiment determines the gait event of the pedestrian in the terminal device pick-up mode by determining the extreme point of the elevation angle of the terminal device relative to the attitude coordinate angle of the geodetic coordinate system. And the number of steps is counted to ensure that the gait detection algorithm has less error in the case of pickpockets and can be used normally, and can be used for positioning indoors or in an environment where buildings are blocked.

Seventh embodiment

Referring to FIG. 16, a schematic structural diagram of a terminal device is shown. The terminal device includes: an attitude angle acquiring module 1601, a carrying mode acquiring module 1602, and a detecting module 1603.

The posture angle acquisition module 1601 is configured to acquire the attitude angle of the terminal device relative to the earth coordinate system; the carrier mode acquisition module 1602 is configured to acquire the carrier mode of the terminal device; and the detection module 1603 is configured to be when the terminal device is in the hand-held mode. The pedestrian gait event is detected by the attitude angle.

Optionally, the attitude angle acquisition module 1601 includes an information acquisition unit 16011 and a posture angle calculation unit 16012;

The information acquisition unit 16011 is configured to acquire acceleration, angular velocity, and earth magnetic field strength in a preset coordinate system corresponding to the terminal device; the posture angle calculation unit 16012 is configured to calculate the terminal device end relative to the earth coordinate according to the acceleration, the angular velocity, and the earth magnetic field strength The attitude angle of the system.

Optionally, the information acquiring unit 16011 includes:

a first obtaining subunit 160111: configured to acquire an acceleration by an accelerometer of the terminal device, acquire an angular velocity by a gyroscope of the terminal device, and acquire an earth magnetic field strength by a magnetometer of the terminal device;

The first processing subunit 160112 is configured to perform a predetermined number of spline interpolation on the acceleration, the angular velocity, and the earth magnetic field strength when the sampling frequencies of the acceleration, the angular velocity, and the earth magnetic field strength are inconsistent;

Second processing sub-unit 160113: configured to low pass filter the acceleration, angular velocity, and earth magnetic field strength.

Optionally, the attitude angle calculation unit 16012 includes:

a first calculating subunit 160121: configured to bring the acceleration, the angular velocity, and the earth magnetic field strength into the attitude heading reference system when the earth magnetic field strength is less than the first predetermined value;

The second calculating subunit 160122 is configured to bring the acceleration and the angular velocity into the attitude heading reference system when the earth magnetic field strength is greater than or equal to the first preset value;

Output subunit 160123: configured to output the attitude angle from the attitude heading reference system.

Optionally, the carrier mode obtaining module 1602 includes:

The reference unit 16021 is configured to pre-acquire acceleration and speed information of the terminal device in the first preset time period;

An obtaining unit 16022: configured to acquire a gravity component and a linear acceleration component from the acceleration information;

An evaluation unit 16023: configured to select a feature value from a gravity component, a linear acceleration component, and a velocity of the acceleration;

The determining unit 16024 is configured to acquire the sensor information of the terminal device, and determine the carrying mode according to the classification rule, wherein the classification rule is determined according to the numerical distribution feature of the feature value in different carrying modes.

Optionally, the detecting module 1603 includes:

The extracting unit 16031 is configured to low-pass filter the acquired posture angle, and extract a pitch angle among the plurality of posture angles stored in the second preset time;

The determining unit 16032 is configured to determine that the gait event is determined when there is an extreme value among the plurality of pitch angles, and the condition includes: the minimum value of the plurality of pitch angles is smaller than the second preset value, or a maximum value of the plurality of pitch angles is greater than a third preset value, or a minimum value of the plurality of pitch angles is less than a second preset value and a maximum value of the plurality of pitch angles Greater than the third preset value.

In summary, in the embodiment, the attitude angle acquisition module can acquire the required attitude angle, and the carrying mode acquisition module determines the carrying mode of the terminal device, and the detection module detects the pedestrian step through the posture angle when the terminal device is in the pick-up mode. The state event can achieve a small detection error when the relative motion between the terminal device and the pedestrian is relatively small.

It is to be understood that the phrase "one embodiment" or "an embodiment" or "an" or "an" Thus, "in one embodiment" or "in an embodiment" or "an" In addition, these particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

In various embodiments of the present disclosure, it can be understood that the size of the sequence numbers of the different processes described above does not imply a sequence of execution orders, and the order of execution of the different processes may be determined by its function and internal logic.

Additionally, the terms "system" and "network" are used interchangeably herein.

In the several embodiments provided by the present application, it can be understood that the disclosed method and apparatus can be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be electrical, mechanical or otherwise.

In addition, different functional units in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may be separately provided separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes a plurality of instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform part of the steps of the pedestrian gait detection method in each embodiment of the present disclosure. . The foregoing storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. The medium of the code.

Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and functional blocks/units of the methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be composed of several physical The components work together. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer readable medium, which may include computer storage media (or non-transitory media) and communication media (or transitory media). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and nonvolatile, implemented in any method or technology for storing information, such as computer readable instructions, data structures, program modules or other data. Sex, removable and non-removable media. Computer storage media include, but are not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), and Electrically Erasable Programmable Read-only Memory (EEPROM). Flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cassette, magnetic tape, disk storage or other magnetic storage device, or Any other medium used to store the desired information and that can be accessed by the computer. Moreover, it is well known to those skilled in the art that communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and can include any information delivery media. .

A person skilled in the art can understand that the technical solutions of the present disclosure may be modified or equivalent, without departing from the spirit and scope of the present disclosure, and should be included in the scope of the claims of the present disclosure.

Industrial applicability

Claims

A detection method, the method comprising:

Obtaining an attitude angle of the terminal device relative to a geodetic coordinate system;

Obtaining a carrying manner of the terminal device;

When the carrying mode of the terminal device is the handcuff mode, the pedestrian gait event is detected by the posture angle.
The detecting method according to claim 1, wherein the acquiring the attitude angle of the terminal device with respect to the earth coordinate system comprises:

Obtaining acceleration, angular velocity, and earth magnetic field strength in a preset coordinate system corresponding to the terminal device;

An attitude angle of the terminal device relative to the earth coordinate system is calculated based on the acceleration, the angular velocity, and the earth magnetic field strength.
The detecting method according to claim 2, wherein the acquiring acceleration, angular velocity and earth magnetic field strength in a preset coordinate system corresponding to the terminal device comprises:

Obtaining acceleration by an accelerometer of the terminal device, obtaining an angular velocity by a gyroscope of the terminal device, and acquiring an earth magnetic field strength by a magnetometer of the terminal device;

When the sampling frequencies of the acceleration, the angular velocity, and the earth magnetic field strength are inconsistent, the acceleration, the angular velocity, and the earth magnetic field strength are subjected to a predetermined number of spline interpolation;

The acceleration, angular velocity, and earth magnetic field strength are low pass filtered.
The detecting method according to claim 2, wherein the calculating the attitude angle of the terminal device with respect to the earth coordinate system according to the acceleration, the angular velocity and the earth magnetic field strength comprises:

When the earth magnetic field strength is less than a first preset value, the acceleration, angular velocity, and earth magnetic field strength are brought into the attitude heading reference system;

When the earth magnetic field strength is greater than or equal to a first preset value, the acceleration and angular velocity are brought into the attitude heading reference system;

The attitude angle is output from the attitude heading reference system.
The detecting method according to claim 1, wherein the obtaining the carrying mode of the terminal device comprises:

Collecting acceleration and speed information of the terminal device in the first preset time;

Obtaining a gravity component and a linear acceleration component from the acceleration information;

Selecting a feature value from a gravity component of the acceleration, a linear acceleration component, and a velocity;

The sensor information of the terminal device is obtained, and the type of the carrying mode is determined according to the classification rule, wherein the classification rule is determined according to the numerical distribution feature of the feature value in different carrying modes.
The detecting method according to claim 1, wherein said detecting a gait event of a pedestrian by said posture angle comprises:

Performing low-pass filtering on the acquired attitude angle to extract a pitch angle among a plurality of attitude angles stored in the second preset time;

Determining a gait event when there is an extreme value in the extracted plurality of elevation angles, and the condition includes: a minimum value of the plurality of elevation angles is less than a second preset value, or The maximum value of the pitch angles is greater than the third preset value, or the minimum of the plurality of pitch angles is smaller than the second preset value and the maximum value of the plurality of pitch angles is greater than the third pre- Set the value.
A terminal device, the terminal device comprising:

An attitude angle acquisition module: configured to acquire an attitude angle of the terminal device relative to a geodetic coordinate system;

The carrying mode acquiring module is configured to acquire the carrying mode of the terminal device.

The detecting module is configured to detect a pedestrian gait event by using the posture angle when the carrying mode of the terminal device is the pick-up mode.
The terminal device according to claim 7, wherein the attitude angle acquisition module comprises:

An information acquiring unit: configured to acquire acceleration, angular velocity, and earth magnetic field strength in a preset coordinate system corresponding to the terminal device;

An attitude angle calculation unit configured to calculate an attitude angle of the terminal device relative to the earth coordinate system according to the acceleration, the angular velocity, and the earth magnetic field strength;

The information acquiring unit includes:

a first acquiring subunit: configured to acquire an acceleration by an accelerometer of the terminal device, obtain an angular velocity by a gyroscope of the terminal device, and acquire an earth magnetic field strength by a magnetometer of the terminal device;

a first processing subunit: configured to perform a predetermined number of spline interpolation on the acceleration, the angular velocity, and the earth magnetic field strength when the sampling frequencies of the acceleration, the angular velocity, and the earth magnetic field strength are inconsistent;

a second processing subunit: configured to low pass filter the acceleration, angular velocity, and earth magnetic field strength;

The attitude angle calculation unit includes:

a first calculating subunit: configured to bring the acceleration, angular velocity, and earth magnetic field strength into the attitude heading reference system when the earth magnetic field strength is less than a first predetermined value;

a second calculating subunit: configured to bring the acceleration and angular velocity into the attitude heading reference system when the earth magnetic field strength is greater than or equal to a first preset value;

Output subunit: configured to output the attitude angle from the attitude heading reference system.
The terminal device according to claim 7, wherein the carrying mode acquisition module comprises:

Reference unit: configured to collect acceleration and speed information of the terminal device in the first preset time period;

An acquiring unit: configured to acquire a gravity component and a linear acceleration component from the acceleration information;

An evaluation unit: configured to select a feature value from a gravity component, a linear acceleration component, and a velocity of the acceleration;

The determining unit is configured to obtain the sensor information of the terminal device, and determine the carrying mode according to the classification rule, wherein the classification rule is determined according to the numerical distribution feature of the feature value in different carrying modes.
The terminal device according to claim 7, wherein the detecting module comprises:

Extracting unit: configured to low-pass filter the acquired posture angle, and extract a pitch angle among a plurality of posture angles stored in the second preset time;

a determining unit: configured to determine a gait event when the extracted plurality of pitch angles have an extreme value and the condition is satisfied, the condition comprising: a minimum value of the plurality of pitch angles is less than a second preset value, or a maximum value of the plurality of pitch angles is greater than a third preset value, or a minimum value of the plurality of pitch angles is less than a second preset value and a maximum value of the plurality of pitch angles Greater than the third preset value.