CN103196460A - Method and device for estimating step length - Google Patents

Method and device for estimating step length Download PDF

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CN103196460A
CN103196460A CN2013100865774A CN201310086577A CN103196460A CN 103196460 A CN103196460 A CN 103196460A CN 2013100865774 A CN2013100865774 A CN 2013100865774A CN 201310086577 A CN201310086577 A CN 201310086577A CN 103196460 A CN103196460 A CN 103196460A
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acceleration
pedestrian
characteristic quantity
travel time
move
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CN103196460B (en
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邓中亮
韩青振
王文杰
高鹏
徐涛
陈沛
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Beijing University of Posts and Telecommunications
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Beijing University of Posts and Telecommunications
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Abstract

The invention discloses a method and device for estimating the step length, belonging to the field of communication. The method comprises the steps of: obtaining a first characteristic quantity according to the time of walking one step by a pedestrian and a first acceleration of the pedestrian at a time point included by the time, wherein the first characteristic quantity includes a first stride frequency, a first acceleration variance, a first acceleration maximum value and a first acceleration minimum value of walking one step by the pedestrian; respectively calculating an Euclidean distance between a second characteristic quantity and the first characteristic quantity which are included in a corresponding relation of the stored step length and the second characteristic quantity; and selecting the second characteristic quantity with minimum Euclidean distance from the first characteristic quantity, and determining the step length of walking one step by the pedestrian according to the selected step length corresponding to the second characteristic quantity. The device comprises a first obtaining module, a first calculating module and a determining module. According to the method and device, the complexity of calculation can be reduced and the hardware cost is lowered.

Description

A kind of method and apparatus of estimating step-length
Technical field
The present invention relates to the communications field, particularly a kind of method and apparatus of estimating step-length.
Background technology
In navigational system, pedestrian's reckoning location technology based on inertial sensor is the developing direction of inertial sensor location navigation, be pedestrian's step-length and influence one of pedestrian's reckoning factors of accuracy, in order to improve the precision of pedestrian's reckoning, need to estimate pedestrian's step-length.
At present, what provide a kind ofly estimates that the method for step-length is specially: the jpeg decompression contract drawing is looked like to be divided into non-overlapping copies and continuous a plurality of image blocks, each image block is carried out two-dimension discrete cosine transform, obtain discrete cosine transform coefficient; Estimate the step-length that pedestrian's row makes a move according to discrete cosine transform coefficient.
In realizing process of the present invention, the inventor finds that there is following problem at least in prior art:
Each image block is carried out two-dimension discrete cosine transform obtain discrete cosine transform coefficient, and it is higher according to the computation complexity of the capable step-length that makes a move of discrete cosine transform coefficient estimation pedestrian, and prior art is had relatively high expectations to hardware platform, has improved hardware cost.
Summary of the invention
In order to solve prior art problems, the embodiment of the invention provides a kind of method and apparatus of estimating step-length.Described technical scheme is as follows:
On the one hand, provide a kind of method of estimating step-length, described method comprises:
First acceleration of the time point that the travel time that makes a move according to pedestrian row and described pedestrian comprise at described travel time, obtain first characteristic quantity, described first characteristic quantity comprises first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that the capable first step frequency that makes a move of described pedestrian, described pedestrian row make a move;
Calculate second characteristic quantity that comprises in the corresponding relation of the step-length stored and second characteristic quantity and the Euclidean distance between described first characteristic quantity respectively;
Select with described first characteristic quantity between second characteristic quantity of Euclidean distance minimum, the step-length of the second characteristic quantity correspondence of described selection is defined as the capable step-length that makes a move of described pedestrian.
Wherein, first acceleration of the time point that the described travel time that makes a move according to pedestrian row and described pedestrian comprise at described travel time obtains first characteristic quantity, comprising:
According to the travel time that pedestrian's row makes a move, calculate the first step frequency that described pedestrian's row makes a move;
First acceleration of the time point that comprises at described travel time according to described pedestrian calculates first acceleration variance that described pedestrian's row makes a move;
First acceleration of the time point that described travel time comprises, select the first acceleration maximal value and the first acceleration minimum value from described pedestrian;
Described first step frequency, described first acceleration variance, the described first acceleration maximal value and the described first acceleration minimum value are formed first characteristic quantity.
Wherein, first acceleration of the described time point that comprises at described travel time according to described pedestrian calculates first acceleration variance that described pedestrian's row makes a move, and comprising:
First first acceleration that first acceleration of the first step, the time point that comprises at described travel time from described pedestrian comprises begins to import successively first acceleration to receive window, when default several first acceleration of input in described receive window, stop input, described receive window allows to import the number of first acceleration of the time point that described default several first acceleration and described default number comprise at described travel time less than described pedestrian at most, and the initial value that the input number is set is described default number;
Second step, according to first acceleration that comprises in the described receive window, calculate variance;
If the number of first acceleration of the time point that described input number of the 3rd step comprises at described travel time less than described pedestrian, then move described receive window, to import next first acceleration to described receive window, and with first acceleration of importing the at first output that comprises in the described receive window, increase described input number, return and carry out described second step;
If described input number of the 4th step equals the number of first acceleration of the time point that described pedestrian comprises at described travel time, then to the described variance value of the averaging computing that calculates, obtain the mean value of the described variance that calculates, described mean value is defined as first acceleration variance that described pedestrian's row makes a move.
Wherein, second characteristic quantity that comprises in the step-length that described calculating has respectively been stored and the corresponding relation of second characteristic quantity and the Euclidean distance between described first characteristic quantity comprise:
Second characteristic quantity in the record of described scanning is obtained in article one start-of-record scanning from the corresponding relation of the step-length of having stored and second characteristic quantity;
The first step frequency, first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that comprise according to described first characteristic quantity, and described second characteristic quantity that obtains second step frequency, second acceleration variance, the second acceleration maximal value and the second acceleration minimum value that comprise, calculate Euclidean distance between described first characteristic quantity and described second characteristic quantity that obtains according to following formula
l = ( f - f i ) 2 + ( σ - σ i ) 2 + ( m - m i ) 2 + ( n - n i ) 2
Wherein, in described formula, l is the Euclidean distance between described first characteristic quantity and described second characteristic quantity that obtains, f is described first step frequency, and σ is described first acceleration variance, and m is the described first acceleration maximal value, n is the described first acceleration minimum value, f iBe the described second step frequency, σ iBe described second acceleration variance, m iBe the described second acceleration maximal value, n iBe the described second acceleration minimum value;
Whether a record judging described scanning is the last item record in the corresponding relation of described step-length and second characteristic quantity, if, end operation then, otherwise, next bar record of scanning continued.
Further, first acceleration of the time point that the described travel time that makes a move according to pedestrian row and described pedestrian comprise at described travel time obtains before first characteristic quantity, also comprises:
Obtain the travel time that pedestrian row makes a move, and in three-dimensional system of coordinate, obtain X direction acceleration, y direction acceleration and the plotted acceleration of the time point that described pedestrian comprises at described travel time;
X direction acceleration, y direction acceleration and the plotted acceleration of the time point that comprises at described travel time according to local acceleration of gravity and described pedestrian calculate first acceleration of the time point that described pedestrian comprises at described travel time respectively.
On the other hand, provide a kind of device of estimating step-length, described device comprises:
First acquisition module, first acceleration that is used for the time point that the travel time that makes a move according to pedestrian's row and described pedestrian comprise at described travel time, obtain first characteristic quantity, described first characteristic quantity comprises first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that the capable first step frequency that makes a move of described pedestrian, described pedestrian row make a move;
First computing module is used for calculating respectively the Euclidean distance between first characteristic quantity that second characteristic quantity that the corresponding relation of the step-length of having stored and second characteristic quantity comprises and described first acquisition module obtain;
Determination module, second characteristic quantity of the Euclidean distance minimum between first characteristic quantity of be used for selecting to obtain with described first acquisition module is defined as the capable step-length that makes a move of described pedestrian with the step-length of the second characteristic quantity correspondence of described selection.
Wherein, described first acquisition module comprises:
First computing unit for the travel time that makes a move according to pedestrian's row, calculates the first step frequency that described pedestrian's row makes a move;
Second computing unit is used for first acceleration of the time point that comprises at described travel time according to described pedestrian, calculates first acceleration variance that described pedestrian's row makes a move;
Selected cell, first acceleration that is used for the time point that comprises at described travel time from described pedestrian is selected the first acceleration maximal value and the first acceleration minimum value;
Component units is used for described first step frequency, described first acceleration variance, the described first acceleration maximal value and the described first acceleration minimum value are formed first characteristic quantity.
Wherein, described second computing unit comprises:
The input subelement, be used for first first acceleration that first acceleration of the time point that comprises at described travel time from described pedestrian comprises and begin to import successively first acceleration to receive window, when default several first acceleration of input in described receive window, stop input, described receive window allows to import the number of first acceleration of the time point that described default several first acceleration and described default number comprise at described travel time less than described pedestrian at most, and the initial value that the input number is set is described default number;
Computation subunit is used for being input to first acceleration that receive window comprises according to described input subelement, calculates variance;
The mover unit, if be used for the number of first acceleration of the time point that described input number comprises at described travel time less than described pedestrian, then move described receive window, to import next first acceleration to described receive window, and with first acceleration of importing the at first output that comprises in the described receive window, increase described input number, return and carry out described computation subunit;
Determine subelement, if be used for the number that described input number equals first acceleration of the time point that described pedestrian comprises at described travel time, then to the described variance value of the averaging computing that calculates, obtain the mean value of the described variance that calculates, described mean value is defined as first acceleration variance that described pedestrian's row makes a move.
Wherein, described first computing module comprises:
Acquiring unit is used for scanning from the step-length of having stored the article one start-of-record with the corresponding relation of second characteristic quantity, obtains second characteristic quantity in the record of described scanning;
The 3rd computing unit, for the first step frequency, first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that comprise according to described first characteristic quantity, and described second characteristic quantity that obtains second step frequency, second acceleration variance, the second acceleration maximal value and the second acceleration minimum value that comprise, calculate Euclidean distance between described first characteristic quantity and described second characteristic quantity that obtains according to following formula
l = ( f - f i ) 2 + ( σ - σ i ) 2 + ( m - m i ) 2 + ( n - n i ) 2
Wherein, in described formula, l is the Euclidean distance between described first characteristic quantity and described second characteristic quantity that obtains, f is described first step frequency, and σ is described first acceleration variance, and m is the described first acceleration maximal value, n is the described first acceleration minimum value, f iBe the described second step frequency, σ iBe described second acceleration variance, m iBe the described second acceleration maximal value, n iBe the described second acceleration minimum value;
Judging unit is used for judging whether a record of described scanning is the last item record of the corresponding relation of described step-length and second characteristic quantity, if, end operation then, otherwise continuation scans next bar record.
Further, described device also comprises:
Second acquisition module is used for obtaining the travel time that pedestrian's row makes a move, and obtains X direction acceleration, y direction acceleration and the plotted acceleration of the time point that described pedestrian comprises at described travel time in three-dimensional system of coordinate;
Second computing module, the X direction acceleration, y direction acceleration and the plotted acceleration that are used for the time point that comprises at described travel time according to local acceleration of gravity and described pedestrian calculate first acceleration of the time point that described pedestrian comprises at described travel time respectively.
In embodiments of the present invention, first acceleration of the time point that the travel time that makes a move according to pedestrian row and pedestrian comprise at this travel time obtains first characteristic quantity; Calculate second characteristic quantity that comprises in the corresponding relation of the step-length stored and second characteristic quantity and the Euclidean distance between first characteristic quantity respectively; Select with first characteristic quantity between second characteristic quantity of Euclidean distance minimum, the step-length of the second characteristic quantity correspondence selected is defined as the capable step-length that makes a move of pedestrian.Wherein, first characteristic quantity comprises first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that the capable first step frequency that makes a move of pedestrian, pedestrian's row make a move, corresponding relation according to first characteristic quantity and the step-length of having stored and second characteristic quantity, calculate the step-length that pedestrian's row makes a move, can reduce the complexity of calculating, and reduce hardware cost.
Description of drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the invention, the accompanying drawing of required use is done to introduce simply in will describing embodiment below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is a kind of method flow diagram of estimating step-length that the embodiment of the invention one provides;
Fig. 2 is a kind of method flow diagram of estimating step-length that the embodiment of the invention two provides;
Fig. 3 is a kind of apparatus structure synoptic diagram of estimating step-length that the embodiment of the invention three provides.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.
Embodiment one
The embodiment of the invention provides a kind of method of estimating step-length, and referring to Fig. 1, this method comprises:
Step 101: first acceleration of the time point that the travel time that makes a move according to pedestrian row and pedestrian comprise at travel time, obtain first characteristic quantity, this first characteristic quantity comprises first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that the capable first step frequency that makes a move of pedestrian, pedestrian's row make a move;
Step 102: calculate second characteristic quantity that comprises in the corresponding relation of the step-length stored and second characteristic quantity and the Euclidean distance between first characteristic quantity respectively;
Step 103: select with first characteristic quantity between second characteristic quantity of Euclidean distance minimum, the step-length of the second characteristic quantity correspondence selected is defined as the capable step-length that makes a move of pedestrian.
In embodiments of the present invention, first acceleration of the time point that the travel time that makes a move according to pedestrian row and pedestrian comprise at this travel time obtains first characteristic quantity; Calculate second characteristic quantity that comprises in the corresponding relation of the step-length stored and second characteristic quantity and the Euclidean distance between first characteristic quantity respectively; Select with first characteristic quantity between second characteristic quantity of Euclidean distance minimum, the step-length of the second characteristic quantity correspondence selected is defined as the capable step-length that makes a move of pedestrian.Wherein, first characteristic quantity comprises first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that the capable first step frequency that makes a move of pedestrian, pedestrian's row make a move, corresponding relation according to first characteristic quantity and the step-length of having stored and second characteristic quantity, calculate the step-length that pedestrian's row makes a move, can reduce the complexity of calculating, and reduce hardware cost.
Embodiment two
The embodiment of the invention provides a kind of method of estimating step-length, and referring to Fig. 2, this method comprises:
Step 201: obtain the travel time that pedestrian row makes a move, and in three-dimensional system of coordinate, obtain X direction acceleration, y direction acceleration and the plotted acceleration of the time point that the pedestrian comprises at this travel time;
Particularly, obtain the travel time that pedestrian's row makes a move, and according to the capable travel time that makes a move of this pedestrian, in pedestrian's X direction acceleration waveform of three-dimensional system of coordinate, obtain the X direction acceleration of the time point that the pedestrian comprises at this travel time, according to the capable travel time that makes a move of this pedestrian, in pedestrian's y direction acceleration waveform of three-dimensional system of coordinate, obtain the y direction acceleration of the time point that the pedestrian comprises at this travel time, and according to the travel time that this pedestrian row makes a move, in pedestrian's plotted acceleration waveform of three-dimensional system of coordinate, obtain the plotted acceleration of the time point that the pedestrian comprises at this travel time.
Wherein, the transverse axis in the three-dimensional system of coordinate is X-axis, and the longitudinal axis is Y-axis, and vertical pivot is the Z axle.
Step 202: X direction acceleration, y direction acceleration and the plotted acceleration of the time point that comprises at this travel time according to local acceleration of gravity and pedestrian, calculate first acceleration of the time point that the pedestrian comprises at this travel time respectively;
Particularly, X direction acceleration, y direction acceleration and the plotted acceleration of the time point that comprises at this travel time according to local acceleration of gravity and pedestrian calculate first acceleration of the time point that the pedestrian comprises at this travel time respectively according to following formula (1);
a ( t ) = a ( t ) x 2 + a ( t ) y 2 + a ( t ) z 2 - g - - - ( 1 )
Wherein, in formula (1), first acceleration of the time point that a (t) comprises at this travel time for the pedestrian, a (t) xThe X direction acceleration of the time point that comprises at this travel time for the pedestrian, a (t) yThe y direction acceleration of the time point that comprises at this travel time for the pedestrian, a (t) zThe plotted acceleration of the time point that comprises at this travel time for the pedestrian, g is local acceleration of gravity.
Step 203: according to the travel time that pedestrian's row makes a move, calculate the first step frequency that pedestrian's row makes a move;
Particularly, the travel time that pedestrian's row makes a move is got inverse, obtain the first step frequency that pedestrian's row makes a move.
For example, the pedestrian is capable, and the travel time that makes a move is 1s, and then the travel time 1s that this pedestrian's row is made a move gets inverse, obtains the capable first step that makes a move of this pedestrian and is 1Hz frequently.
Step 204: first acceleration of the time point that comprises at this travel time according to the pedestrian, calculate pedestrian's row first acceleration variance that makes a move;
Particularly, this step can be divided into the step of following (1)-(4), comprising:
(1), first first acceleration of comprising of first acceleration of the time point that comprises at this travel time from the pedestrian begins to import successively first acceleration to receive window, when default several first acceleration of input in this receive window, stop input, this receive window allows to import the number of first acceleration of the time point that default several first acceleration and default number comprise at this travel time less than the pedestrian at most, and the initial value that the input number is set is default number;
Particularly, receive window is placed on the pedestrian before first first acceleration of first acceleration of the time point that this travel time is comprised, movably receiving window, to preset several first acceleration to the receive window input, the initial value that the input number is set is default number, this receive window allows to receive default several first acceleration at most, the number of first acceleration of the time point that default number comprises at this travel time less than the pedestrian.
Wherein, the input number is used for the number that record is input to first acceleration of receive window.
Further, before carrying out this step, also create receive window, and the window size that receive window is set is default number; The window size of receive window is default number, can hold default several first acceleration in the expression receive window at most, when comprising default several first acceleration in the receive window, if again to first acceleration of receive window input, first acceleration of input at first that then comprises in the receive window will shift out receive window.
For example, default number is 3, and the number of first acceleration of the time point that the pedestrian comprises at this travel time is 6, and the sequence of first acceleration of the time point that comprises at this travel time of pedestrian is 1m/s 2, 8m/s 2, 7m/s 2, 6m/s 2, 4m/s 2, 2m/s 2, receive window is placed on first acceleration 1m/s 2Before, movably receiving window is imported first first acceleration 1m/s in receive window 2, when 3 first acceleration of input in this receive window, stopping input, it is 3 that first acceleration input number initial value is set, namely this receive window can receive 3 first acceleration at most.
(2), according to first acceleration that comprises in the receive window, calculate variance;
Particularly, first acceleration first acceleration of the time point that comprises from this travel time of pedestrian begins, the number of first acceleration that comprises in receive window is default number, default several first acceleration according to comprising in the receive window calculate the current variance that is input to first acceleration of receive window.
For example, current first acceleration that is input to receive window is 1m/s 2, 8m/s 2And 7m/s 2, according to the first acceleration 1m/s of receive window 2, 8m/s 2And 7m/s 2, calculating the current variance that is input to first acceleration of receive window is 9.57.
(3), judge whether the input number reaches the number of first acceleration of the time point that the pedestrian comprises at this travel time, if do not reach, movably receiving window then, to import next first acceleration to receive window, and with first acceleration of importing the at first output that comprises in the receive window, increase the input number, return execution in step (2), otherwise, execution in step (4);
(4), the variance value of the averaging computing to calculating, the mean value of the variance that obtains calculating is defined as pedestrian row first acceleration variance that makes a move with this mean value.
For example, the first acceleration 1m/s 2, 8m/s 2And 7m/s 2Variance be 9.57, the first acceleration 8m/s 2, 7m/s 2And 6m/s 2Variance be 0.67, the first acceleration 7m/s 2, 6m/s 2And 4m/s 2Variance be 1.56, the first acceleration 6m/s 2, 4m/s 2With the variance of 2m/s2 be 2.67, to the variance 9.57,0.67,1.56 and 2.67 value of the averaging computings that calculate, the mean value that obtains this variance is 3.62, and this mean value 3.62 is defined as pedestrian row first acceleration variance that makes a move.
Step 205: first acceleration of the time point that this travel time comprises, select the first acceleration maximal value and the first acceleration minimum value from the pedestrian;
Particularly, first acceleration of the time point that the pedestrian is comprised at this travel time compares, and selects the first acceleration maximal value and the first acceleration minimum value from this pedestrian first acceleration of the time point that this travel time comprises.
Step 206: first step frequency, first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that pedestrian's row makes a move are formed first characteristic quantity;
For example, the first step is 0.1 frequently, first acceleration variance is that 3.62, the first acceleration maximal values are that 8, the first acceleration minimum value are 1, frequently be 0.1 with the first step, first acceleration variance is that 3.62, the first acceleration maximal values are that the 8 and first acceleration minimum value is 1 composition, first characteristic quantity (0.1,3.62,8,1).
Step 207: calculate second characteristic quantity that comprises in the corresponding relation of the step-length stored and second characteristic quantity and the Euclidean distance between first characteristic quantity respectively;
Particularly, this step can be divided into the step of following (1)-(3), comprising:
(1), the scanning of article one start-of-record from the corresponding relation of the step-length of having stored and second characteristic quantity;
(2), obtain second characteristic quantity in the record of scanning, and calculate first characteristic quantity and second characteristic quantity that obtains between Euclidean distance;
Particularly, the first step frequency, first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that comprise according to first characteristic quantity, and second characteristic quantity that obtains second step frequency, second acceleration variance, the second acceleration maximal value and the second acceleration minimum value that comprise, according to following formula (2) calculate first characteristic quantity and second characteristic quantity that obtains between Euclidean distance
l = ( f - f i ) 2 + ( σ - σ i ) 2 + ( m - m i ) 2 + ( n - n i ) 2 - - - ( 2 )
Wherein, in formula (2), l is the Euclidean distance between first characteristic quantity and second characteristic quantity, and f is first step frequency, and σ is first acceleration variance, and m is the first acceleration maximal value, and n is the first acceleration minimum value, f iBe the second step frequency, σ iBe second acceleration variance, m iBe the second acceleration maximal value, n iIt is the second acceleration minimum value.
(3), whether a record judging scanning be the last item record in the corresponding relation of step-length and second characteristic quantity, if, end operation then, otherwise, continue to scan next bar record, return execution in step (2).
Wherein, select a default value step-length in advance, be directed to the some step-lengths in the default value step-length of selection, the pedestrian is according to this step-length walking, obtain the step number of pedestrian's walking, and second acceleration that obtains the time point that pedestrian's travel time and pedestrian comprise at this travel time, the pedestrian's that obtains walking step number divided by the travel time that obtains, is obtained second step that the pedestrian is directed to this step-length frequently; Second acceleration of the time point that comprises at this travel time according to the pedestrian's who obtains travel time calculates second acceleration variance that the pedestrian is directed to this step-length; Obtain the acceleration maximal value in each step of pedestrian's walking, the acceleration maximal value value of the averaging computing to obtaining obtains the second acceleration maximal value; And the acceleration minimum value of obtaining each step of pedestrian's walking, the acceleration minimum value value of the averaging computing to obtaining obtains the second acceleration minimum value; The second step frequency, second acceleration variance, the second acceleration maximal value and the second acceleration minimum value are formed second characteristic quantity that the pedestrian is directed to this step-length, store the corresponding relation of this step-length and second characteristic quantity.
For example, the corresponding relation of the step-length of having stored and second characteristic quantity such as following table 1, from the scanning of article one start-of-record of table 1, second characteristic quantity that obtains in article one record of scanning is (0.2,4,7,1.5)
Table 1
Step-length Second characteristic quantity
0.4 （0.2，4，7，1.5）
0.575 （0.23，3.55，10，2）
0.625 （0.1，3.55，8，1）
0.675 （0.3，3.5，9，2）
0.8 （0.15，4.2，7，1）
The first step that comprises according to first characteristic quantity is 0.1, first acceleration variance 3.62, the first acceleration maximal value 8 and the first acceleration minimum value 1 frequently, and frequently 0.2, second acceleration variance 4, the second acceleration maximal value 7 and the second acceleration minimum value 1.5 of second step of comprising of second characteristic quantity that obtains, according to above-mentioned formula (2) calculate first characteristic quantity and second characteristic quantity that obtains between Euclidean distance be 0.39.
Step 208: select with first characteristic quantity between second characteristic quantity of Euclidean distance minimum, the step-length of the second characteristic quantity correspondence selected is defined as the capable step-length that makes a move of pedestrian.
Particularly, second characteristic quantity of the Euclidean distance minimum between selection and first characteristic quantity, and according to second characteristic quantity of selecting, from the corresponding relation of the step-length of having stored and second characteristic quantity, obtain the corresponding step-length of second characteristic quantity of selection, the step-length of obtaining is defined as the step-length that pedestrian's row makes a move.
For example, second characteristic quantity of the Euclidean distance minimum between that select and first characteristic quantity is (0.1,3.55,8,1), according to second characteristic quantity of selecting (0.1,3.55,8,1), the corresponding step-length of second characteristic quantity of obtaining selection from the corresponding relation of the step-length of having stored and second characteristic quantity is 0.625, and the step-length of obtaining 0.625 is defined as the step-length that pedestrian's row makes a move.
In embodiments of the present invention, first acceleration of the time point that the travel time that makes a move according to pedestrian row and pedestrian comprise at this travel time obtains first characteristic quantity; Calculate second characteristic quantity that comprises in the corresponding relation of the step-length stored and second characteristic quantity and the Euclidean distance between first characteristic quantity respectively; Select with first characteristic quantity between second characteristic quantity of Euclidean distance minimum, the step-length of the second characteristic quantity correspondence selected is defined as the capable step-length that makes a move of pedestrian.Wherein, first characteristic quantity comprises first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that the capable first step frequency that makes a move of pedestrian, pedestrian's row make a move, corresponding relation according to first characteristic quantity and the step-length of having stored and second characteristic quantity, calculate the step-length that pedestrian's row makes a move, can reduce the complexity of calculating, and reduce hardware cost.
Embodiment three
Referring to Fig. 3, the embodiment of the invention provides a kind of device of estimating step-length, and this device comprises:
First acquisition module 301, first acceleration that is used for the time point that the travel time that makes a move according to pedestrian's row and pedestrian comprise at travel time, obtain first characteristic quantity, first characteristic quantity comprises first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that the capable first step frequency that makes a move of pedestrian, pedestrian's row make a move;
First computing module 302 is used for calculating respectively the Euclidean distance between first characteristic quantity that second characteristic quantity that the corresponding relation of the step-length of having stored and second characteristic quantity comprises and first acquisition module 301 obtain;
Determination module 303, second characteristic quantity of the Euclidean distance minimum between first characteristic quantity of be used for selecting to obtain with first acquisition module 301 is defined as the capable step-length that makes a move of pedestrian with the step-length of the second characteristic quantity correspondence selected.
Wherein, first acquisition module 301 comprises:
First computing unit for the travel time that makes a move according to pedestrian's row, calculates the first step frequency that pedestrian's row makes a move;
Second computing unit is used for first acceleration of the time point that comprises at this travel time according to the pedestrian, calculates first acceleration variance that pedestrian's row makes a move;
Selected cell, first acceleration that is used for the time point that comprises at this travel time from the pedestrian is selected the first acceleration maximal value and the first acceleration minimum value;
Component units is used for first step frequency, first acceleration variance, the first acceleration maximal value and the first acceleration minimum value are formed first characteristic quantity.
Further, second computing unit comprises:
The input subelement, be used for first first acceleration that first acceleration of the time point that comprises at this travel time from the pedestrian comprises and begin to import successively first acceleration to receive window, when default several first acceleration of input in receive window, stop input, receive window allows to import the number of first acceleration of the time point that default several first acceleration and default number comprise at this travel time less than the pedestrian at most, and the initial value that the input number is set is default number;
Computation subunit is used for being input to first acceleration that receive window comprises according to the input subelement, calculates variance;
The mover unit, if be used for the number of first acceleration of the time point that the input number comprises at this travel time less than the pedestrian, movably receiving window then, to import next first acceleration to receive window, and with first acceleration of importing the at first output that comprises in the receive window, increase the input number, return the execution computation subunit;
Determine subelement, if be used for the number that the input number equals first acceleration of the time point that the pedestrian comprises at this travel time, the then variance value of the averaging computing to calculating, the mean value of the variance that obtains calculating is defined as first acceleration variance that pedestrian's row makes a move with mean value.
Wherein, first computing module 302 comprises:
Acquiring unit is used for scanning from the step-length of having stored the article one start-of-record with the corresponding relation of second characteristic quantity, obtains second characteristic quantity in the record of scanning;
The 3rd computing unit, for the first step frequency, first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that comprise according to first characteristic quantity, and second characteristic quantity that obtains second step frequency, second acceleration variance, the second acceleration maximal value and the second acceleration minimum value that comprise, according to following formula calculate first characteristic quantity and second characteristic quantity that obtains between Euclidean distance
l = ( f - f i ) 2 + ( σ - σ i ) 2 + ( m - m i ) 2 + ( n - n i ) 2
Wherein, in formula, l is the Euclidean distance between first characteristic quantity and second characteristic quantity that obtains, f be the first step frequently, σ is first acceleration variance, m is the first acceleration maximal value, n is the first acceleration minimum value, f iBe the second step frequency, σ iBe second acceleration variance, m iBe the second acceleration maximal value, n iIt is the second acceleration minimum value;
Judging unit be used for to judge whether a record of scanning is the last item record of the corresponding relation of step-length and second characteristic quantity, if, end operation then, otherwise, continue to scan next bar record.
Further, this device also comprises:
Second acquisition module is used for obtaining the travel time that pedestrian's row makes a move, and obtains X direction acceleration, y direction acceleration and the plotted acceleration of the time point that the pedestrian comprises at travel time in three-dimensional system of coordinate;
Second computing module, the X direction acceleration, y direction acceleration and the plotted acceleration that are used for the time point that comprises at travel time according to local acceleration of gravity and pedestrian calculate first acceleration of the time point that the pedestrian comprises at travel time respectively.
In embodiments of the present invention, first acceleration of the time point that the travel time that makes a move according to pedestrian row and pedestrian comprise at this travel time obtains first characteristic quantity; Calculate second characteristic quantity that comprises in the corresponding relation of the step-length stored and second characteristic quantity and the Euclidean distance between first characteristic quantity respectively; Select with first characteristic quantity between second characteristic quantity of Euclidean distance minimum, the step-length of the second characteristic quantity correspondence selected is defined as the capable step-length that makes a move of pedestrian.Wherein, first characteristic quantity comprises first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that the capable first step frequency that makes a move of pedestrian, pedestrian's row make a move, corresponding relation according to first characteristic quantity and the step-length of having stored and second characteristic quantity, calculate the step-length that pedestrian's row makes a move, can reduce the complexity of calculating, and reduce hardware cost.
The invention described above embodiment sequence number does not represent the quality of embodiment just to description.
The all or part of step that one of ordinary skill in the art will appreciate that realization above-described embodiment can be finished by hardware, also can instruct relevant hardware to finish by program, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium of mentioning can be ROM (read-only memory), disk or CD etc.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. a method of estimating step-length is characterized in that, described method comprises:
First acceleration of the time point that the travel time that makes a move according to pedestrian row and described pedestrian comprise at described travel time, obtain first characteristic quantity, described first characteristic quantity comprises first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that the capable first step frequency that makes a move of described pedestrian, described pedestrian row make a move;
Calculate second characteristic quantity that comprises in the corresponding relation of the step-length stored and second characteristic quantity and the Euclidean distance between described first characteristic quantity respectively;
Select with described first characteristic quantity between second characteristic quantity of Euclidean distance minimum, the step-length of the second characteristic quantity correspondence of described selection is defined as the capable step-length that makes a move of described pedestrian.
2. method according to claim 1 is characterized in that, first acceleration of the time point that the described travel time that makes a move according to pedestrian row and described pedestrian comprise at described travel time obtains first characteristic quantity, comprising:
According to the travel time that pedestrian's row makes a move, calculate the first step frequency that described pedestrian's row makes a move;
First acceleration of the time point that comprises at described travel time according to described pedestrian calculates first acceleration variance that described pedestrian's row makes a move;
First acceleration of the time point that described travel time comprises, select the first acceleration maximal value and the first acceleration minimum value from described pedestrian;
Described first step frequency, described first acceleration variance, the described first acceleration maximal value and the described first acceleration minimum value are formed first characteristic quantity.
3. method according to claim 2 is characterized in that, first acceleration of the described time point that comprises at described travel time according to described pedestrian calculates first acceleration variance that described pedestrian's row makes a move, and comprising:
First first acceleration that first acceleration of the first step, the time point that comprises at described travel time from described pedestrian comprises begins to import successively first acceleration to receive window, when default several first acceleration of input in described receive window, stop input, described receive window allows to import the number of first acceleration of the time point that described default several first acceleration and described default number comprise at described travel time less than described pedestrian at most, and the initial value that the input number is set is described default number;
Second step, according to first acceleration that comprises in the described receive window, calculate variance;
If the number of first acceleration of the time point that described input number of the 3rd step comprises at described travel time less than described pedestrian, then move described receive window, to import next first acceleration to described receive window, and with first acceleration of importing the at first output that comprises in the described receive window, increase described input number, return and carry out described second step;
If described input number of the 4th step equals the number of first acceleration of the time point that described pedestrian comprises at described travel time, then to the described variance value of the averaging computing that calculates, obtain the mean value of the described variance that calculates, described mean value is defined as first acceleration variance that described pedestrian's row makes a move.
4. method according to claim 1 is characterized in that, second characteristic quantity that comprises in the step-length that described calculating has respectively been stored and the corresponding relation of second characteristic quantity and the Euclidean distance between described first characteristic quantity comprise:
Second characteristic quantity in the record of described scanning is obtained in article one start-of-record scanning from the corresponding relation of the step-length of having stored and second characteristic quantity;
The first step frequency, first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that comprise according to described first characteristic quantity, and described second characteristic quantity that obtains second step frequency, second acceleration variance, the second acceleration maximal value and the second acceleration minimum value that comprise, calculate Euclidean distance between described first characteristic quantity and described second characteristic quantity that obtains according to following formula
l = ( f - f i ) 2 + ( σ - σ i ) 2 + ( m - m i ) 2 + ( n - n i ) 2
Wherein, in described formula, l is the Euclidean distance between described first characteristic quantity and described second characteristic quantity that obtains, f is described first step frequency, and σ is described first acceleration variance, and m is the described first acceleration maximal value, n is the described first acceleration minimum value, f iBe the described second step frequency, σ iBe described second acceleration variance, m iBe the described second acceleration maximal value, n iBe the described second acceleration minimum value;
Whether a record judging described scanning is the last item record in the corresponding relation of described step-length and second characteristic quantity, if, end operation then, otherwise, next bar record of scanning continued.
5. method according to claim 1 is characterized in that, first acceleration of the time point that the described travel time that makes a move according to pedestrian row and described pedestrian comprise at described travel time obtains before first characteristic quantity, also comprises:
Obtain the travel time that pedestrian row makes a move, and in three-dimensional system of coordinate, obtain X direction acceleration, y direction acceleration and the plotted acceleration of the time point that described pedestrian comprises at described travel time;
X direction acceleration, y direction acceleration and the plotted acceleration of the time point that comprises at described travel time according to local acceleration of gravity and described pedestrian calculate first acceleration of the time point that described pedestrian comprises at described travel time respectively.
6. a device of estimating step-length is characterized in that, described device comprises:
First acquisition module, first acceleration that is used for the time point that the travel time that makes a move according to pedestrian's row and described pedestrian comprise at described travel time, obtain first characteristic quantity, described first characteristic quantity comprises first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that the capable first step frequency that makes a move of described pedestrian, described pedestrian row make a move;
First computing module is used for calculating respectively the Euclidean distance between first characteristic quantity that second characteristic quantity that the corresponding relation of the step-length of having stored and second characteristic quantity comprises and described first acquisition module obtain;
Determination module, second characteristic quantity of the Euclidean distance minimum between first characteristic quantity of be used for selecting to obtain with described first acquisition module is defined as the capable step-length that makes a move of described pedestrian with the step-length of the second characteristic quantity correspondence of described selection.
7. device according to claim 6 is characterized in that, described first acquisition module comprises:
First computing unit for the travel time that makes a move according to pedestrian's row, calculates the first step frequency that described pedestrian's row makes a move;
Second computing unit is used for first acceleration of the time point that comprises at described travel time according to described pedestrian, calculates first acceleration variance that described pedestrian's row makes a move;
Selected cell, first acceleration that is used for the time point that comprises at described travel time from described pedestrian is selected the first acceleration maximal value and the first acceleration minimum value;
Component units is used for described first step frequency, described first acceleration variance, the described first acceleration maximal value and the described first acceleration minimum value are formed first characteristic quantity.
8. device according to claim 7 is characterized in that, described second computing unit comprises:
The input subelement, be used for first first acceleration that first acceleration of the time point that comprises at described travel time from described pedestrian comprises and begin to import successively first acceleration to receive window, when default several first acceleration of input in described receive window, stop input, described receive window allows to import the number of first acceleration of the time point that described default several first acceleration and described default number comprise at described travel time less than described pedestrian at most, and the initial value that the input number is set is described default number;
Computation subunit is used for being input to first acceleration that receive window comprises according to described input subelement, calculates variance;
The mover unit, if be used for the number of first acceleration of the time point that described input number comprises at described travel time less than described pedestrian, then move described receive window, to import next first acceleration to described receive window, and with first acceleration of importing the at first output that comprises in the described receive window, increase described input number, return and carry out described computation subunit;
Determine subelement, if be used for the number that described input number equals first acceleration of the time point that described pedestrian comprises at described travel time, then to the described variance value of the averaging computing that calculates, obtain the mean value of the described variance that calculates, described mean value is defined as first acceleration variance that described pedestrian's row makes a move.
9. device according to claim 6 is characterized in that, described first computing module comprises:
Acquiring unit is used for scanning from the step-length of having stored the article one start-of-record with the corresponding relation of second characteristic quantity, obtains second characteristic quantity in the record of described scanning;
The 3rd computing unit, for the first step frequency, first acceleration variance, the first acceleration maximal value and the first acceleration minimum value that comprise according to described first characteristic quantity, and described second characteristic quantity that obtains second step frequency, second acceleration variance, the second acceleration maximal value and the second acceleration minimum value that comprise, calculate Euclidean distance between described first characteristic quantity and described second characteristic quantity that obtains according to following formula
l = ( f - f i ) 2 + ( σ - σ i ) 2 + ( m - m i ) 2 + ( n - n i ) 2
Wherein, in described formula, l is the Euclidean distance between described first characteristic quantity and described second characteristic quantity that obtains, f is described first step frequency, and σ is described first acceleration variance, and m is the described first acceleration maximal value, n is the described first acceleration minimum value, f iBe the described second step frequency, σ iBe described second acceleration variance, m iBe the described second acceleration maximal value, n iBe the described second acceleration minimum value;
Judging unit is used for judging whether a record of described scanning is the last item record of the corresponding relation of described step-length and second characteristic quantity, if, end operation then, otherwise continuation scans next bar record.
10. device according to claim 6 is characterized in that, described device also comprises:
Second acquisition module is used for obtaining the travel time that pedestrian's row makes a move, and obtains X direction acceleration, y direction acceleration and the plotted acceleration of the time point that described pedestrian comprises at described travel time in three-dimensional system of coordinate;
Second computing module, the X direction acceleration, y direction acceleration and the plotted acceleration that are used for the time point that comprises at described travel time according to local acceleration of gravity and described pedestrian calculate first acceleration of the time point that described pedestrian comprises at described travel time respectively.
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