CN104964686A - Indoor positioning device and method based on motion capture and method - Google Patents

Abstract

The present invention discloses an indoor positioning device and method based on motion capture, the motion capture mainly rely on a plurality of inertial measurement units, and each inertial measurement unit includes a triaxial accelerometer, a triaxial gyro and a magnetoresistive sensor. By use of the inertial measurement units for calibration of human skeletons and rebuilding of a human skeleton vector model, the human body motion capture can be realized, and every step of displacement of the human body can be further projected to achieve human indoor positioning. The ndoor positioning device based on motion capture is suitable for base-station-building-free indoor positioning environment, multi-sensor medical care, and fire and rescue application, the positioning accuracy is far better than the positioning accuracy of acceleration speed integral resolving, can monitor the behavior of the human body, can be extended for measurement of other indicators of the human body, and has great significance in the fields of base-station-building-free indoor positioning environment, and behavior monitoring.

Description

A kind of indoor positioning devices and methods therefor based on motion capture

Technical field

The present invention relates to a kind of movable information adopting Inertial Measurement Unit to obtain human body to calculate the indoor positioning devices and methods therefor based on motion capture of the spatial attitude of skeleton, can also calculate that human locomotion displacement calculates its locus based on skeleton attitude.

Background technology

In recent years, under indoor environment, people are more and more higher to location Based service (Location Based Service) quality requirements.In factory, we may need position and the job information of understanding workman at any time; In fire-fighting and rescue, fire fighter wishes position and the destination that oneself can find rapidly oneself, rapidly planning one rescue route.

But, still there are many deficiencies at current indoor positioning technologies.Main flow indoor locating system product on market, all depends on the system deployment maintenance of the structure of backup system, the erection of base station and complexity substantially.Its maneuverability is poor, and extended capability is weak, cannot adapt to the demand of some special occasions.

A kind of wearable indoor positioning device that the present invention relates to and method, do not rely on the erection of external unit, only needs self-contained donning system, just can realize the location of human body under arbitrary indoor scene.The method adopts Inertial Measurement Unit (Inertial Measurement Unit, IMU) equipment to carry out seizure to the three-dimensional acceleration of human motion and course information and obtains, and realizes the reckoning to position of human body.

Further, a principal character of the present invention adopts the attitude of multiple node mode to human body to be reconstructed, and attitude information can be adopted to realize the reckoning of position of human body.While realization location, the synchronous of human action attitude can be also achieved.In other words, in the application scenario of some human body attitude motion capture, we can realize the indoor positioning of almost zero cost.This characteristic, at some special occasions, as medical monitoring, fire-fighting and rescue operation etc. also have meaning and the value of its uniqueness.

Summary of the invention

The object of this invention is to provide a kind of without in base station construction environment, realize the indoor positioning apparatus system of human body location, there is provided a kind of in the behavior act attitude monitoring process of people, when without optional equipment cost, realize the apparatus system that human body is synchronously located, be specially a kind of indoor positioning devices and methods therefor based on motion capture.

The present invention is realized by following technology:

A kind of indoor positioning device based on motion capture is provided with Inertial Measurement Unit module, data reception module and data processing module; Described Inertial Measurement Unit module has multiple node, each node comprises triaxial accelerometer sensor, three-axis gyroscope flowmeter sensor and three axle magnetoresistive transducers, described data reception module comprises wireless communication module, receive the data sent from Inertial Measurement Unit Module nodes, data processing module then performs and upgrades and indoor positioning to realize human body attitude the process of data.

The localization method of described indoor positioning device is:

Step one, bind the indoor positioning device described in wearing by the individual of Monitoring and Positioning; Multiple nodes of Inertial Measurement Unit module are demarcated one to one to the bone below human body waist;

Step 2, starting outfit; Device initialize demarcates the initial position of people, the initial attitude of people and course; Now, people keeps the attitude of attentioning; The judgement of initial heading adopts initial heading angular estimation algorithm;

After step 3, device initialize, people just can start to carry out daily indoor activity; In active procedure, equipment catches human body behavior act, and the human body movement data information of sampling, upgrade reconstruct human body attitude, and according to the attitude information of human body, calculate the displacement of human body; In data processing, human body attitude update algorithm, Zero velocity Updating algorithm, gait cycle evaluation algorithm, dead reckoning will be related to;

Step 4, transmit virtual location and the motion state of people in real time to server.

The mode that described human body behavior act catches, comprises the acceleration information and angular velocity information that obtain skeleton motion.

Described renewal reconstruct human body attitude is specially: upgrade human skeleton spatial attitude information converting, and rebuild skeleton attitude according to the knowledge of rigid dynamics.

Described and according to the attitude information of human body, calculate that the displacement of human body is specially: by rebuilding human skeleton attitude, to calculate the vector correlation of the bipod of human body, namely human body step-length and towards.

Carry out man-to-man Inertial Measurement Unit node to the bone below human body waist to demarcate, comprise the demarcation to hipbone, left and right thigh, left and right shank and left and right sole.

The initial heading determination methods mentioned in step 2, as shown in Figure 1, device node (carrier) Y-axis towards mark human body towards, but in fact Y-axis towards ensureing and surface level standard parallel.Therefore, suppose that the Y-axis of IMU device node is unit vector towards the direction vector under navigational coordinate system $\stackrel{\→}{h}=x\·\stackrel{\→}{i}+y\·\stackrel{\→}{j}+x\·\stackrel{\→}{k},$ Then the course angle vector of human body is actually its projection $h_p=x\·\stackrel{\→}{i}+y\·\stackrel{\→}{j}.$ If known carrier coordinate system relative to the rotation matrix of navigational coordinate system is:

Then have:

So, can course angle φ be tried to achieve:

$k=\left\{\begin{array}{cc}1,& x<0,y>0\\ 0,& x\&GreaterEqual;0\\ -1,& x<0,y<0\end{array}\right.$

The human body attitude update algorithm mentioned in step 3, as Fig. 2, it is as follows that it resolves equation:

Mention in step 3 and calculate that the mode of human body displacement is as follows:

If human body attitude builds, then the vector correlation between any two joint of human body just can be determined:

$\stackrel{\&RightArrow;}{V}=P\left({\mathrm{Node}}_i\right)-P\left({\mathrm{Node}}_j\right)$

Vector correlation when then the displacement of a gait cycle of human body and bipod land between two heels, as Fig. 5.

The Zero velocity Updating algorithm mentioned in step 3, its objective is the cumulative errors for correcting Inertial Measurement Unit.

The gait cycle evaluation algorithm mentioned in step 3, its objective is for judging completing of a cycle of taking a step, the displacement of the cycle generation so that clearing are taken a step.

The dead reckoning that step 3 kind is mentioned, be the key realizing position of human body estimation, as Fig. 3, its principle is as follows:

Suppose known initial position p ₀(p _0x, p _0y), the displacement after each sampling with course angle θ _i(angle of Relative Navigation coordinate system X-axis), then can calculate any time, along the displacement coordinate p of navigational coordinate system _i(p _ix, p _iy):

$\left\{\begin{array}{c}{s}_{\mathrm{ix}}=\left|{\stackrel{\&RightArrow;}{s}}_i\right|{\cos \mathrm{\&theta;}}_i\\ s_{\mathrm{iy}}=\left|{\stackrel{\&RightArrow;}{s}}_i\right|\sin {\mathrm{\&theta;}}_i\end{array}\right.$

$\left\{\begin{array}{c}{p}_{\mathrm{kx}}=p_{0x}+\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}{s}_{\mathrm{ix}}\\ p_{\mathrm{ky}}=p_{0y}+\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}{s}_{\mathrm{iy}}\end{array}\right.,(k\&GreaterEqual;1)$

In whole step process, Inertial Measurement Unit equipment carries out communication by wireless signal and host node, and the inertial data of each sampling instant is fed back to host node, and wherein, gyro data is fed back with the form of hypercomplex number.

Core algorithm and the data processing of indoor positioning will be carried out on the primary node, according to the real time data received, the human body attitude matrix in each moment is upgraded, while obtaining human body attitude, extrapolate up-to-date human body displacement, and adopt dead reckoning, iteration renewal is carried out to the flight path of human body, realizes the indoor positioning of human body.

Accompanying drawing explanation

Fig. 1 realizes the core calibration position based on the indoor positioning technologies Inertial Measurement Unit of motion capture;

Schematic diagram is analyzed in Fig. 2 initial heading;

Schematic diagram is analyzed in coordinate system rotational transform under Fig. 3 Eulerian angle;

Fig. 4 dead reckoning principle analysis schematic diagram;

Fig. 5 skeleton is taken a step the vector abstract schematic of attitude;

The track estimation plane projection schematic diagram in long path, Fig. 6 space;

Fig. 7 tests corridor environment planimetric map.

Embodiment

This example sets forth concrete operation step by one group of real device experiment below, and device actual effect in the application.The environment of experimental site is corridor environment as shown in Figure 7, and upper experiment is downstairs carried out once along corridor walking in the laboratory of carrying out.

Step one, by the individual of Monitoring and Positioning need bind dress equipment provided by the invention, multiple nodes of Inertial Measurement Unit module are demarcated one to one to the bone below human body waist; Binding method is as Fig. 1, device core unit comprises Inertial Measurement Unit module, data reception module and data processing module etc., wherein the most important thing is Inertial Measurement Unit module, Inertial Measurement Unit device interior comprises the accelerometer of three axles, three-axis gyroscope meter and three axle magnetoresistive transducers.

Step 2, dressed equipment after, starting outfit; Equipment need initialization demarcate the initial position of people, the initial attitude of people and towards; Now, people should keep the attitude of attentioning; The judgement of initial heading adopts initial heading angular estimation algorithm.

After step 3, device initialize, people just can start to carry out corridor Ambulatory Activity; In active procedure, equipment will the human body movement data information of process sampling, upgrades reconstruct human body attitude, and according to the attitude information of human body, calculate the displacement of human body; In algorithm implementation, human body attitude update algorithm, Zero velocity Updating algorithm, gait cycle evaluation algorithm, dead reckoning etc. will be related to.

Step 4, transmit virtual location and the motion state of people in real time to server.

The initial heading determination methods mentioned in step 2, as shown in Figure 2, device node (carrier) Y-axis towards mark human body towards, but in fact Y-axis towards ensureing and surface level standard parallel.Therefore, suppose that the Y-axis of IMU device node is unit vector towards the direction vector under navigational coordinate system $\stackrel{\&RightArrow;}{h}=x\&CenterDot;\stackrel{\&RightArrow;}{i}+y\&CenterDot;\stackrel{\&RightArrow;}{j}+x\&CenterDot;\stackrel{\&RightArrow;}{k},$ Then the course angle vector of human body is actually its projection $h_p=x\&CenterDot;\stackrel{\&RightArrow;}{i}+y\&CenterDot;\stackrel{\&RightArrow;}{j}.$ If known carrier coordinate system relative to the rotation matrix of navigational coordinate system is:

Then have:

So, can course angle φ be tried to achieve:

$k=\left\{\begin{array}{cc}1,& x<0,y>0\\ 0,& x\&GreaterEqual;0\\ -1,& x<0,y<0\end{array}\right.$

The human body attitude update algorithm mentioned in step 3, as Fig. 3, it is as follows that it resolves equation:

Mention in step 3 and calculate that the mode of human body displacement is as follows:

If human body attitude builds, then the vector correlation between any two joint of human body just can be determined:

$\stackrel{\&RightArrow;}{V}=P\left({\mathrm{Node}}_i\right)-P\left({\mathrm{Node}}_j\right)$

Vector correlation when then the displacement of a gait cycle of human body and bipod land between two heels, as Fig. 5.

The Zero velocity Updating algorithm mentioned in step 3, its objective is the cumulative errors for correcting Inertial Measurement Unit.

The gait cycle evaluation algorithm mentioned in step 3, its objective is for judging completing of a cycle of taking a step, the displacement of the cycle generation so that clearing are taken a step.

The dead reckoning that step 3 kind is mentioned, be the key realizing position of human body estimation, as Fig. 4, its principle is as follows:

Suppose known initial position p ₀(p _0x, p _0y), the displacement after each sampling with course angle θ _i(angle of Relative Navigation coordinate system X-axis), then can calculate any time, along the displacement coordinate p of navigational coordinate system _i(p _ix, p _iy):

$\left\{\begin{array}{c}{s}_{\mathrm{ix}}=\left|{\stackrel{\&RightArrow;}{s}}_i\right|{\cos \mathrm{\&theta;}}_i\\ s_{\mathrm{iy}}=\left|{\stackrel{\&RightArrow;}{s}}_i\right|\sin {\mathrm{\&theta;}}_i\end{array}\right.$

$\left\{\begin{array}{c}{p}_{\mathrm{kx}}=p_{0x}+\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}{s}_{\mathrm{ix}}\\ p_{\mathrm{ky}}=p_{0y}+\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}{s}_{\mathrm{iy}}\end{array}\right.,(k\&GreaterEqual;1)$

Finally, as shown in Figure 6, its initial point position deviation is 1.5 ~ 2.5% of whole walking distance to the laboratory inner position result that we obtain, and has higher positioning precision.

Claims (7)

1., based on an indoor positioning device for motion capture, it is characterized in that being provided with Inertial Measurement Unit module, data reception module and data processing module; Described Inertial Measurement Unit module has multiple node, each node comprises triaxial accelerometer sensor, three-axis gyroscope flowmeter sensor and three axle magnetoresistive transducers, described data reception module comprises wireless communication module, receive the data sent from Inertial Measurement Unit Module nodes, data processing module then performs and upgrades and indoor positioning to realize human body attitude the process of data.

2. the localization method of an indoor positioning device as claimed in claim 1: it is characterized in that:

Step one, bind the indoor positioning device described in wearing by the individual of Monitoring and Positioning; Multiple nodes of Inertial Measurement Unit module are demarcated one to one to the bone below human body waist;

Step 2, starting outfit; Device initialize demarcates the initial position of people, the initial attitude of people and course; Now, people keeps the attitude of attentioning; The judgement of initial heading adopts initial heading angular estimation algorithm;

After step 3, device initialize, people just can start to carry out daily indoor activity; In active procedure, equipment catches human body behavior act, and the human body movement data information of sampling, upgrade reconstruct human body attitude, and according to the attitude information of human body, calculate the displacement of human body; In data processing, human body attitude update algorithm, Zero velocity Updating algorithm, gait cycle evaluation algorithm, dead reckoning will be related to;

Step 4, transmit virtual location and the motion state of people in real time to server.

3. localization method as claimed in claim 2, is characterized in that the mode that described human body behavior act catches, and comprises the acceleration information and angular velocity information that obtain skeleton motion.

4. localization method as claimed in claim 2, is characterized in that described renewal reconstruct human body attitude is specially: upgrade human skeleton spatial attitude information converting, and rebuild skeleton attitude according to the knowledge of rigid dynamics.

5. localization method as claimed in claim 2, is characterized in that described and according to the attitude information of human body, calculates that the displacement of human body is specially: by rebuilding human skeleton attitude, calculate the vector correlation of the bipod of human body, namely human body step-length and towards.

6. localization method as described in any one of claim 2-5, is characterized in that the bone below to human body waist carries out the demarcation of man-to-man Inertial Measurement Unit node, comprises the demarcation to hipbone, left and right thigh, left and right shank and left and right sole.

7. localization method as claimed in claim 6, it is characterized in that described initial heading angular estimation algorithm is specially: the Inertial Measurement Unit Module nodes coordinate system Y-axis of device normalization on the sole of left and right towards mark human body towards, suppose that the Y-axis of Inertial Measurement Unit Module nodes is unit vector towards the direction vector under navigational coordinate system then the course angle vector of human body is actually its projection if known carrier coordinate system relative to the rotation matrix of navigational coordinate system is:

then have:

So, can course angle φ be tried to achieve:

$k=\left\{\begin{array}{cc}1,& x<0,y>0\\ 0,& x\&GreaterEqual;0\\ -1,& x<0,y<0\end{array}\right..$