CN105021194B - A kind of human body irregular motion cognition formula navigation waistband - Google Patents

A kind of human body irregular motion cognition formula navigation waistband Download PDF

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CN105021194B
CN105021194B CN201510387379.0A CN201510387379A CN105021194B CN 105021194 B CN105021194 B CN 105021194B CN 201510387379 A CN201510387379 A CN 201510387379A CN 105021194 B CN105021194 B CN 105021194B
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axis
component
human body
accelerometer
gyroscope
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CN105021194A (en
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李擎
苏中
刘宁
付国栋
李超
费程羽
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BEIJING DEWEI CHUANGYING TECHNOLOGY Co Ltd
Beijing Information Science and Technology University
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BEIJING DEWEI CHUANGYING TECHNOLOGY Co Ltd
Beijing Information Science and Technology University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

The invention discloses a kind of navigation waistband towards individual autonomy positioning field, which includes Inertia information perception component, magnetic field intensity perception component, temperature sensing component, environment sensing component, human-computer interaction component, alarm assemblies, data handling component, data transfer components, auxiliary positioning component, human body irregular motion cognition component, battery and waistband.The present invention not only has the function of traditional waistband, additionally it is possible to carry out human body irregular motion perceive and it is real-time position, personnel's local environment is analyzed, and in alarm of causing danger, finally by wireless transmission, personal information is sent on target device.Present invention is mainly applied to need to provide personnel state information, environmental information and the occasion in geographical location, the particularly special occasions in the positioning of the needs such as no satellite, mobile phone signal.

Description

A kind of human body irregular motion cognition formula navigation waistband
Technical field
It is irregular more particularly to a kind of human body the present invention relates to a kind of navigation waistband towards individual autonomy positioning field Cognition in sport formula navigation waistband.
Background technology
Although with satellite navigation and the development of wireless communication technique, pass through satellite positioning, preset beacon and numerical map The methods of matching, can easily obtain personnel location information.But for the (communications such as satellite-signal is poor, WiFi of no beaconing environment System can not be used because of reasons such as power-off), personnel's navigation particularly inside complex building, under the environment such as scene of fire and fixed Position problem is always the problem and research hotspot of domestic and international navigation and location-based service.
Navigation and location technology of the inertial navigation as a kind of autonomous type, by its inertia device (accelerometer, gyro) The carrier movement information of measurement continuously calculates bearer rate, position and posture, can provide effective technology in order to solve the above problem Means restrict its length for being human motion morphology influence and inertia device in the key that movement human positioning field develops at present When drift about.
And in personnel positioning field, other than above-mentioned technical problem, how a greatest problem facing is by equipment side Just it, fast, is accurately installed on human body, as the requirement of a body-worn, before daily life is not influenced It puts, the information such as the accurate real-time positioning information that personnel are provided, physical condition monitoring, site environment perception.Existing personnel lead Boat equipment has mobile phone, navigation shoe, wrist-watch, waistband etc., with so having solved portability problem, but such product is relied primarily on and defended Star navigation, cellular base station assisting navigation, can not solve the problems, such as indoor and outdoor seamless navigation, positioning accuracy is poor, and does not have human body The monitoring function of motion state can not carry out dangerous situation anticipation.
By human body irregular motion cognition technology, can make up traditional positioning device cannot position, is fixed the present invention in real time The shortcomings of position error is big；The shortcomings that traditional positioning device can not carry out environment sensing, sound-light alarm can be made up again simultaneously；Tool Have it is simple in structure, start speed is fast, false alarm rate is low, stability is strong, positioning accuracy is high, carry out human body irregular motion cognition, The advantages of carrying out dangerous situation anticipation carries out personnel positioning, body in real time especially suitable for being needed in no satellite-signal, mobile phone signal etc. Body condition monitoring, site environment perceive and the scene of effective and safe guarantee.
Invention content
By human body irregular motion cognition technology, can make up traditional positioning device cannot position, is fixed the present invention in real time The shortcomings of position error is big；The shortcomings that traditional positioning device can not carry out environment sensing, sound-light alarm can be made up again simultaneously；Tool Have it is simple in structure, start speed is fast, false alarm rate is low, stability is strong, positioning accuracy is high, carry out human body irregular motion cognition, The advantages of carrying out dangerous situation anticipation carries out personnel positioning in real time, physical condition monitoring, site environment perception especially suitable for needing With the scene of effective and safe guarantee.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of human body irregular motion sensing type navigation waistband, including Inertia information perception component, magnetic field intensity perception group Part, temperature sensing component, environment sensing component, human-computer interaction component, alarm assemblies, data handling component, data transfer components, Auxiliary positioning component, human body irregular motion cognition component, battery and waistband.
Compared with prior art, the beneficial effects of the invention are as follows：
1) a kind of human body irregular motion sensing type navigation waistband provided by the invention, using integrated design, by each group Part organically combines, and simplifies the mentality of designing of conventional body's navigation equipment, a kind of human body irregular motion sensing type designed Navigate waistband have it is simple in structure, start speed it is fast.
2) a kind of human body irregular motion sensing type navigation waistband provided by the invention, is recognized by human body irregular motion The shortcomings that technology, drift is greatly caused by effectively correcting Inertial Measurement Unit, external auxiliary positioning device, error is big, human body is transported Dynamic information is used for the motion positions of personnel, and positioning accuracy is high, while also is able to carry out the motion state monitoring of human body.
3) present invention utilizes Inertia information perception component, magnetic field intensity perception component, temperature sensing component, environment sensing group Part, comprehensive descision personnel local environment and situation, false alarm rate is low, stability is strong, dangerous situation ability to predict is strong.
4) the comprehensive each module information of the present invention can be positioned effectively in real time into administrative staff, physical condition monitors, site environment Perception and safety guarantee.
Description of the drawings
Fig. 1 is a kind of human body irregular motion sensing type navigation Waistband structure block diagram；
Fig. 2 is a kind of human body irregular motion sensing type navigation belt system block diagram.
Specific embodiment
The invention discloses a kind of human body irregular motion sensing type navigation waistband, including Inertia information perception component, magnetic Field intensity perception component, temperature sensing component, environment sensing component, human-computer interaction component, alarm assemblies, data handling component, Data transfer components, auxiliary positioning component, human body irregular motion cognition component, battery and waistband.
Inertia information perception component includes：X-axis gyroscope (2-1), y-axis gyroscope (2-2), z-axis gyroscope (2-4), x-axis Accelerometer (2-5), y-axis accelerometer (2-6) and z-axis accelerometer (2-8).Wherein, x-axis gyroscope (2-1), y-axis gyro Instrument (2-2), z-axis gyroscope (2-4) constitute the gyroscope subsystem (2-3) of Inertial Measurement Unit；X-axis accelerometer (2-5), Y-axis accelerometer (2-6) and z-axis accelerometer (2-8) constitute the accelerometer subsystem (2-7) of Inertial Measurement Unit.Magnetic Field intensity perception component includes：X-axis magnetometer (2-9), y-axis magnetometer (2-10), z-axis magnetometer (2-12), while these three Sensor also constitutes the magnetic strength scoring system (2-11) of Inertial Measurement Unit.Temperature sensing component includes：Temperature sensor 1 (2-13) and temperature sensor 2 (2-15), the two sensors constitute the temperature sense subsystem (2- of Inertial Measurement Unit 14)。
Environment sensing component includes：Smoke sensor device (2-60), pressure transducer (2-63), harmful gas sensor (2- And speech transducer (2-65) 64).Human-computer interaction component includes：Work light (2-23), display terminal (2-32), button 1 (2-33) and button 2 (2-35).Alarm assemblies include：Alarming horn (2-36) and alarm lamp (2-27).
Data handling component includes：Use processing device (2-45), mobile memory (2-40), power supervisor (2- And watchdog circuit (2-48) 46).Use processing device (2-45) for receiving and handling the data obtained from interface, and Data interaction is carried out with other components.
Auxiliary positioning component (2-67) includes：Grapefruit satellite receiver, cellular base station chip etc. set for assisting navigation It is standby.
Human body irregular motion cognition component is right by acquiring Inertia information using human body irregular motion cognitive approach The Inertia information of human body waist carries out mathematical statistics, analyzes the motion state of human body, obtain human body run on race, walk, jump, sitting, Which kind of lie, crouch etc. in motor pattern.Using the human motion state obtained, location information, environmental information to output have Effect is corrected.
As the carrier of various components installation, by integrated processing technology, each component is effectively installed for waistband (1-1) In on waistband.Wherein, Inertia information perception component, magnetic field intensity perception component, temperature sensing component, environment sensing component, people Machine interactive component, alarm assemblies, data handling component, auxiliary positioning component, human body irregular motion cognition component, battery integrate In electrical box (1-2), on auxiliary positioning element antenna (1-3), data transfer components (1-4) fixation and waistband.
The gyroscope subsystem signal (2- that x-axis gyroscope (2-1), y-axis gyroscope (2-2), z-axis gyroscope (2-4) export 16) it is analog signals, by gyroscope signal process module (2-17), is adjusted to that analog-digital converter can be directly inputted The correspondence gyro analog signal (2-43) of (2-66).X-axis accelerometer (2-5), y-axis accelerometer (2-6) and z-axis accelerometer The accelerometer subsystem signal (2-18) of (2-8) output is analog signals, passes through accelerometer signal processing module (2- 19), it is adjusted to directly input the correspondence accelerometer analog signal (2-44) of analog-digital converter (2-66).X-axis magnetic The magnetic strength scoring system signal (2-20) that strong meter (2-9), y-axis magnetometer (2-10), z-axis magnetometer (2-12) export is analog quantity Signal by magnetometer signal processing module (2-21), is adjusted to directly input pair of analog-digital converter (2-66) Answer magnetometer analog signal (2-57).Temperature sensor 1 (2-13) and the temperature sense point of temperature sensor 2 (2-15) output are Signal (2-22) of uniting is analog signals, by processes temperature signal module (2-56), is adjusted to that mould can be directly inputted The corresponding temperature sensor analog signals (2-58) of number converter (2-66).
The comprehensive gyro analog signal (2-43) of analog-digital converter (2-66), accelerometer analog signal (2-44), magnetometer Analog signal (2-57) and temperature sensor analog signal (2-58), are transmitted to by digital interface 1 (2-47) at information fusion Manage device (2-45).Smoke sensor device (2-60) carries out data by digital interface 2 (2-52) and use processing device (2-45) Interaction；Pressure transducer (2-63) carries out data interaction by digital interface 3 (2-59) and use processing device (2-45)；Have Evil gas sensor (2-64) carries out data interaction by digital interface 4 (2-53) and use processing device (2-45)；Voice Sensor (2-65) carries out data interaction by digital interface 5 (2-54) and use processing device (2-45)；Information transmits mould Block (2-50) carries out data interaction by digital interface 7 (2-51) and use processing device (2-45)；Watchdog circuit module (2-48) carries out data interaction by digital interface 8 (2-49) and use processing device (2-45)；Power supervisor (2-46) Data interaction is carried out by digital interface 9 (2-55) and use processing device (2-45)；Mobile memory (2-40) passes through number Word interface 10 (2-42) carries out data interaction with use processing device (2-40).
Use processing device (2-45) is connected by digital interface 11 (2-26) with work light power amplifier (2-25), work Make after indicator light power amplifier (2-25) receives order, driving work light signal (2-24) controls work light (2-23) work Make；Use processing device (2-45) is connected by digital interface 12 (2-31) with display terminal (2-32)；Button 1 (2-33) with The digital interface 13 (2-34) of use processing device (2-45) is connected；(2-35) the use processing device of button 2 (2-45) Digital interface 14 (2-37) is connected.
Use processing device (2-45) is connected by digital interface 15 (2-30) with alarm lamp power amplifier (2-28), report After alert indicator light power amplifier (2-28) receives order, driving police instruction modulating signal (2-29) controls alarm lamp (2-27) work Make；Use processing device (2-45) is connected by digital interface 16 (2-41) with alarming horn power amplifier (2-39), alarming horn After power amplifier (2-39) receives order, driving alarming horn signal (2-38) controls alarming horn (2-36) to work.
Battery (2-62) adjusts (2-61) by plurality of level, is connected with system components, and electricity is provided for system components Source.
X-axis gyroscope (2-1), y-axis gyroscope (2-2), z-axis gyroscope (2-4) are responsible for itself angular movement of perception personnel； X-axis accelerometer (2-5), y-axis accelerometer (2-6) and z-axis accelerometer (2-8) are responsible for itself line movement of perception personnel；x Axis magnetometer (2-9), y-axis magnetometer (2-10), z-axis magnetometer (2-12) are responsible for the magnetic field environment of perception personnel；Temperature sensing Device 1 (2-13) is responsible for perception personnel's ambient temperature；Temperature sensor 2 (2-15) is responsible for perceiving Inertial Measurement Unit sensor Operating ambient temperature；Smoke sensor device (2-60) is responsible for perception personnel's ambient enviroment smog information；Pressure transducer (2-63) is negative Blame perception personnel's ambient enviroment pressure information；Harmful gas sensor (2-64) is responsible for perception personnel's ambient enviroment pernicious gas letter Breath；Speech transducer (2-65) is responsible for perception personnel's ambient sound information；Data transmission module (2-50) can be by ring around personnel Border information, inertial position information, status information etc. are sent to rear and accuse platform by wireless transmission method；Watchdog circuit Module (2-48) is responsible for the stable operation of system；Power supervisor (2-46) is responsible for the power management of system, for improving system Working time；Mobile memory (2-40) is responsible for storing into information on line, is able to record that the Inertial Measurement Unit of 1 hour measures Information, for carrying out ex-post analysis；Alarm lamp (2-27), the danger warning of alarming horn (2-36) responsible person；Display Terminal (2-32), work light (2-23), button 1 (2-33), button 2 (2-35) are responsible for the man-machine friendship of Inertial Measurement Unit Mutually.
Human body irregular motion cognition technology proposed by the invention is to utilize x-axis gyroscope (2-1), y-axis gyroscope (2-2), z-axis gyroscope (2-4), x-axis accelerometer (2-5), y-axis accelerometer (2-6), z-axis accelerometer (2-8), x-axis magnetic The strong data for counting (2-9), y-axis magnetometer (2-10), z-axis magnetometer (2-12) and pressure transducer (2-63) are merged, and are led to Cross the motion perception that hypothesis testing method carries out human body.X-axis gyroscope (2-1), y-axis gyroscope (2-2), z-axis gyroscope (2- 4), x-axis accelerometer (2-5) and y-axis accelerometer (2-6) can effectively judge the zero-speed information during human motion；x Axis magnetometer (2-9), y-axis magnetometer (2-10) and z-axis magnetometer (2-12) can determine whether out that the orientation during human motion becomes Change information；Pressure transducer (2-63) can judge the elevation information of human motion.Judge these information, you can into pedestrian Body irregular motion perceives, and specific algorithm is as follows：
(1) it is g using the signal of x-axis gyroscope (2-1) acquisitionx,k, y-axis gyroscope (2-2) acquisition signal be gy,k、z The non-g of data of axis gyroscope (2-4) acquisitionz,k, pass through the collected data computing gyroscope vector data of three groups of gyroscopes：
Wherein, k is sampling instant.
(2) it is a using the signal of x-axis accelerometer (2-5) acquisitionx,k, y-axis accelerometer (2-6) acquisition signal be ay,k, z-axis accelerometer (2-8) acquisition signal be az,k, accelerometer is calculated by the collected data of three groups of accelerometers Vector data：
(3) using fast Fourier method, the amplitude versus frequency characte of computing gyroscope and accelerometer：
Wherein, FFT () is fourier function；Ma,kFor accelerometer amplitude；Mg,kFor gyroscope amplitude；To accelerate Degree meter Frequency point；For gyroscope Frequency point.
Using the amplitude versus frequency characte result of calculation of accelerometer and gyroscope, human body irregular motion state is judged.Pass through examination Test means, construction human body irregular motion amplitude versus frequency characte library the states such as walks including human body, runs, jumping, standing, sitting, crouching, passing through width Frequency characterization result analyzes the irregular motion state of human body.
(4) according to human body irregular motion state, filtering parameter, model ginseng during dynamic regulation human body navigator fix Number so as to inhibit to drift about, improves navigation accuracy.
When no satellite, mobile phone signal, navigation waistband of the invention, using the navigation feature of itself, by means of Human body irregular motion recognizes constraints, realizes that human motion perceives navigation.
By human body irregular motion cognition technology, can make up traditional positioning device cannot position, is fixed the present invention in real time The shortcomings of position error is big；The shortcomings that traditional positioning device can not carry out environment sensing, sound-light alarm can be made up again simultaneously；Tool Have it is simple in structure, start speed is fast, false alarm rate is low, stability is strong, positioning accuracy is high, carry out human body irregular motion cognition, The advantages of carrying out dangerous situation anticipation needs to carry out personnel positioning, physical condition in real time especially suitable for no satellite, mobile phone signal etc. Monitoring, site environment perceive and the scene of effective and safe guarantee.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although reference The present invention is described in detail in preferred embodiment, it will be understood by those of ordinary skill in the art that, it can be to the present invention's Technical solution is modified or replaced equivalently, and without departing from the spirit and scope of technical solution of the present invention, should all be covered In scope of the presently claimed invention.

Claims (1)

1. a kind of navigation waistband towards individual autonomy positioning field, which includes Inertia information perception component, magnetic field intensity Perception component, temperature sensing component, environment sensing component, human-computer interaction component, alarm assemblies, data handling component, data pass Defeated component, auxiliary positioning component, human body irregular motion cognition component, battery and waistband；By integrated design, by each component It organically combines, not only there is traditional waistband, additionally it is possible to carry out human body irregular motion and perceive and position in real time, to personnel Local environment is analyzed, and is effectively alarmed when personnel cause danger, finally by wireless data transmission component, by people Member's information is sent on target device；
Wherein, the human body irregular motion cognition component is believed using human body irregular motion cognitive approach by acquiring inertia Breath carries out mathematical statistics to the Inertia information of human body waist, analyzes the motion state of human body, show which kind of movement human body runs on In pattern, the motor pattern includes：It runs, walk, jump, sit, lie, crouch；Using the human motion state obtained, to the position of output Information, environmental information are effectively corrected；
The navigation waistband towards individual autonomy positioning field can be used in no satellite-signal, mobile phone signal but need to people Member carries out the scene of positioning in real time, physical condition monitoring, site environment perception and effective and safe guarantee；
The human body irregular motion cognitive approach is using following steps：Utilize x-axis gyroscope (2-1), y-axis gyroscope (2- 2), z-axis gyroscope (2-4), x-axis accelerometer (2-5), y-axis accelerometer (2-6), z-axis accelerometer (2-8), x-axis magnetic strength The data for counting (2-9), y-axis magnetometer (2-10), z-axis magnetometer (2-12) and pressure transducer (2-63) are merged, and are passed through Hypothesis testing method carries out the motion perception of human body；X-axis gyroscope (2-1), y-axis gyroscope (2-2), z-axis gyroscope (2-4), x Axis accelerometer (2-5) and y-axis accelerometer (2-6) can effectively judge the zero-speed information during human motion；X-axis magnetic Strong meter (2-9), y-axis magnetometer (2-10) and z-axis magnetometer (2-12) can determine whether out the Orientation differences letter during human motion Breath；Pressure transducer (2-63) can judge the elevation information of human motion；Judge these information, you can it is non-to carry out human body Regular motion perceives, and specific algorithm is as follows：
(1) it is g using the signal of x-axis gyroscope (2-1) acquisitionx,k, y-axis gyroscope (2-2) acquisition signal be gy,k, z-axis top The non-g of data of spiral shell instrument (2-4) acquisitionz,k, pass through the collected data computing gyroscope vector data of three groups of gyroscopes：
Wherein, k is sampling instant；
(2) it is a using the signal of x-axis accelerometer (2-5) acquisitionx,k, y-axis accelerometer (2-6) acquisition signal be ay,k、z The signal of axis accelerometer (2-8) acquisition is az,k, accelerometer vector number is calculated by the collected data of three groups of accelerometers According to：
(3) using fast Fourier method, the amplitude versus frequency characte of computing gyroscope and accelerometer：
Wherein, FFT () is fourier function；Ma,kFor accelerometer amplitude；Mg,kFor gyroscope amplitude；For accelerometer Frequency point；For gyroscope Frequency point；
Using the amplitude versus frequency characte result of calculation of accelerometer and gyroscope, human body irregular motion state is judged.
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CN108040182A (en) * 2018-01-16 2018-05-15 维沃移动通信有限公司 A kind of alarm method and mobile terminal
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