CN106813676B - A kind of step counting, localization method and device - Google Patents
A kind of step counting, localization method and device Download PDFInfo
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- CN106813676B CN106813676B CN201710092579.2A CN201710092579A CN106813676B CN 106813676 B CN106813676 B CN 106813676B CN 201710092579 A CN201710092579 A CN 201710092579A CN 106813676 B CN106813676 B CN 106813676B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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Abstract
The embodiment of the invention provides a kind of step counting, localization method and devices, step-recording method includes: the second peak value/second valley of the first peak value/first valley that the acceleration of advance axis direction is determined in pre-set detection cycle and the acceleration of vertical axis；It obtains and occurs the first time of occurrence of the first peak value/first valley every time, and occur the second time of occurrence of the second peak value/second valley that there is corresponding relationship with the first peak value/first valley every time；Calculate the first difference between the first time of occurrence and the second time of occurrence every time；Record the number that the first difference is no more than the first preset threshold；Judge in detection cycle, whether the average value of the acceleration of advance axis direction is greater than the second preset threshold；If it does, increasing recorded number on current step counting number.Using the embodiment of the present invention, the accuracy of step counting and the accuracy of indoor positioning are improved.
Description
Technical field
The present invention relates to fields of communication technology, more particularly to a kind of step counting, localization method and device.
Background technique
Inertial navigation (inertial navigation) is according to newton principle of inertia, using in inertial navigation set
Acceleration transducer measures the acceleration of carrier itself, by integral and operation obtains speed and position, to reach pair
The purpose of carrier navigator fix, carrier mentioned here can be intelligent communication device, illustratively, intelligent communication device
It can be smart phone, tablet computer etc..Inertial navigation set is all mounted in carrier, and when work does not depend on extraneous letter
Breath, also not outwardly radiation energy, is not easily susceptible to interfere, is a kind of autonomic navigation system.
It is people's row track estimating method that inertial navigation, which is applied to the most common method of indoor positioning, and this method is in known pedestrian
Initial position in the case where, according to pedestrian per length and course angle is cut down step by step, judge that pedestrian is expert at position after making a move
It sets.In the method by accurately step counting, could correctly be positioned.
Existing common step-recording method is to carry out step counting, specific method are as follows: from acceleration transducer by peak detection
Obtain the acceleration that generates respectively of three axis when pedestrian's walking, three axis mentioned here is respectively X-axis, Y-axis and Z axis, exemplary
, three axis schematic diagrames of smart phone can be as shown in Figure 1.Y-axis is also known as advance shaft, and Z axis is also known as vertical axis；Detection is vertical
Whether the acceleration peak value of axis direction is greater than preset threshold；If it does, adding a step in original counting.But above-mentioned step counting
Method is not accurate enough, such as: when pedestrian's hand-held intelligent terminal, when the posture of hand-held intelligent terminal changes, it may generate
Acceleration, further, it is possible to the acceleration in vertical axis is greater than preset threshold, thus there is the step counting of mistake,
Cause step counting inaccurate, and then influences the accuracy of indoor positioning.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of step counting, localization method and device, to improve the accuracy of step counting
With the accuracy of indoor positioning.Specific technical solution is as follows:
In a first aspect, in order to achieve the above objectives, the embodiment of the invention discloses a kind of step-recording methods, which comprises
In pre-set detection cycle, determines the first peak value/first valley of the acceleration of advance axis direction and hang down
Second peak value of the acceleration in d-axis direction/the second valley；
Obtain every time occur the first time of occurrence of the first peak value/first valley, and every time occur with first peak value/
First valley has the second time of occurrence of the second peak value/second valley of corresponding relationship；Wherein, the corresponding relationship is in institute
It states in detection cycle, is determined according to the sequence that the first peak value/first valley and the second peak value/second valley occur；
Calculate the first difference between the second time of occurrence and the first time of occurrence every time；
Record the number that first difference is no more than the first preset threshold；
Judge in the detection cycle, whether the average value of the acceleration of advance axis direction is greater than the second preset threshold；
If it does, increasing recorded number on current step counting number.
Optionally, the detection cycle makes a move the required time not less than predetermined pedestrian's row.
Optionally, described in pre-set detection cycle, determine the first peak value/the of the acceleration of advance axis direction
Second peak value of one valley and the acceleration of vertical axis/the second valley, comprising:
Using predetermined low-pass filter, acceleration to the advance axis direction in pre-set detection cycle and
The acceleration of vertical axis is filtered；Wherein, the cut-off frequecy of passband of the low-pass filter is not less than predetermined
Maximum cadence when the pedestrian walks；
Determine the acceleration of filtered advance axis direction the first peak value/first valley and filtered vertical axis
Acceleration the second peak value/second valley.
Optionally, there is the first time of occurrence of the first peak value/first valley every time in the acquisition, and appearance and institute every time
State the second time of occurrence of the second peak value/second valley that the first peak value/first valley has corresponding relationship, comprising:
A peak value/valley is selected in first peak value/first valley, is determined as target peak/target valley；
Determine that the first time of occurrence of the target peak/target valley and third peak value/third valley second occur
Time, wherein the third peak value/third valley is in second peak value/second valley, with the target peak/mesh
Mark peak value/valley that valley has corresponding relationship；
From first peak value/first valley, selects one and be not determined as target peak/target valley peak value/paddy
Value, is updated to selected peak value/valley for the target peak/target valley, and return execution determine the target peak/
The step of the first time of occurrence and the second time of occurrence of third peak value/third valley of target valley, until the first peak value/the
Peak value/valley in one valley is targeted peak value/target valley.
Second aspect, in order to achieve the above objectives, the embodiment of the invention also discloses a kind of localization method, the method packets
It includes:
In pre-set detection cycle, determines the first peak value/first valley of the acceleration of advance axis direction and hang down
Second peak value of the acceleration in d-axis direction/the second valley；
Obtain every time occur the first time of occurrence of the first peak value/first valley, and every time occur with first peak value/
First valley has the second time of occurrence of the second peak value/second valley of corresponding relationship；Wherein, the corresponding relationship is in institute
It states in detection cycle, is determined according to the sequence that the first peak value/first valley and the second peak value/second valley occur；
Calculate the first difference between the second time of occurrence and the first time of occurrence every time；
Record the number that first difference is no more than the first preset threshold；
Judge in the detection cycle, whether the average value of the acceleration of advance axis direction is greater than the second preset threshold；
If it does, increasing recorded number on current step counting number；
The step-length course corresponding with the number recorded to be made a move according to the current position coordinates of pedestrian, pedestrian's row
Angle positions the pedestrian and walks the position coordinates after a step.
The third aspect, in order to achieve the above objectives, the embodiment of the invention also discloses a kind of step count set, described device packets
It includes:
First determining module, for determining the first of the acceleration of advance axis direction in pre-set detection cycle
Second peak value of peak value/first valley and the acceleration of vertical axis/the second valley；
First obtains module, occurs the first time of occurrence of the first peak value/first valley every time for obtaining, and go out every time
Now there is with first peak value/first valley the second time of occurrence of the second peak value/second valley of corresponding relationship；Wherein,
The corresponding relationship is that occurred in the detection cycle according to the first peak value/first valley and the second peak value/second valley
What sequence determined；
First computing module, for calculating the first difference between the second time of occurrence and the first time of occurrence every time；
First logging modle, the number for being no more than the first preset threshold for recording first difference；
First judgment module, for judging in the detection cycle, whether the average value of the acceleration of advance axis direction
Greater than the second preset threshold；
First increase module, for the judging result of the first judgment module be greater than in the case where, current
Increase recorded number on step counting number.
Optionally, the detection cycle makes a move the required time not less than predetermined pedestrian's row.
Optionally, first determining module, comprising:
Submodule is filtered, for utilizing predetermined low-pass filter, to the advance in pre-set detection cycle
The acceleration of axis direction and the acceleration of vertical axis are filtered；Wherein, the cut-off frequecy of passband of the low-pass filter
Maximum cadence when not less than predetermined pedestrian walking；
First determines submodule, the first peak value/first valley of the acceleration for determining filtered advance axis direction
With the second peak value/second valley of the acceleration of filtered vertical axis.
Optionally, described first module is obtained, comprising:
Second determines submodule, for selecting a peak value/valley in first peak value/first valley, is determined as mesh
Mark peak value/target valley；
Third determines submodule, for determine the first time of occurrence of the target peak/target valley and third peak value/
Second time of occurrence of third valley, wherein the third peak value/third valley be in second peak value/second valley,
There is peak value/valley of corresponding relationship with the target peak/target valley；
Submodule is selected, for one being selected and not being determined as target peak/mesh from first peak value/first valley
Peak value/the valley for marking valley, is updated to selected peak value/valley for the target peak/target valley, and returns and execute institute
It states third and determines submodule, until peak value/valley in the first peak value/first valley is targeted peak value/target paddy
Value；
Fourth aspect, in order to achieve the above objectives, the embodiment of the invention also discloses a kind of positioning device, described device packets
It includes:
Second determining module, for determining the first of the acceleration of advance axis direction in pre-set detection cycle
Second peak value of peak value/first valley and the acceleration of vertical axis/the second valley；
Second obtains module, occurs the first time of occurrence of the first peak value/first valley every time for obtaining, and go out every time
Now there is with first peak value/first valley the second time of occurrence of the second peak value/second valley of corresponding relationship；Wherein,
The corresponding relationship is that occurred in the detection cycle according to the first peak value/first valley and the second peak value/second valley
What sequence determined；
Second computing module, for calculating the first difference between the second time of occurrence and the first time of occurrence every time；
Second logging modle, the number for being no more than the first preset threshold for recording first difference；
Second judgment module, for judging in the detection cycle, whether the average value of the acceleration of advance axis direction
Greater than the second preset threshold；
Second increase module, for the judging result of second judgment module be greater than in the case where, current
Increase recorded number on step counting number；
Locating module, step-length for being made a move according to the current position coordinates of pedestrian, pedestrian's row and is recorded
The corresponding course angle of number positions the pedestrian and walks the position coordinates after a step.
A kind of step counting, localization method and device provided in an embodiment of the present invention, by calculate every time the second time of occurrence with
The first difference between first time of occurrence, the first difference of record is no more than the number of the first preset threshold, so that it is determined that row
The step number that people walks in detection cycle, further, in being averaged for the determining acceleration of advance axis direction in detection cycle
In the case that value is greater than the second preset threshold, increase recorded number on step counting number, can be improved step counting accuracy and
The accuracy of indoor positioning.Certainly, implement any of the products of the present invention or method it is not absolutely required at the same reach described above
All advantages.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is three axis schematic diagrames of smart phone；
Fig. 2 is a kind of flow diagram for step-recording method that the embodiment of the present invention mentions；
Fig. 3 is the curve graph that the 3-axis acceleration obtained changes with sampled point；
Fig. 4 is the filter window of Butterworth LPF；
The curve graph that Fig. 5 changes for the acceleration of filtered advance axis direction and vertical axis with sampled point；
Fig. 6 is the schematic diagram of double-legged alternating movement in a walking period；
Fig. 7 be in the process of walking, the speed of the point A on pedestrian's foot with time change curve；
Fig. 8 is the variation schematic diagram of the acceleration of the acceleration and advance shaft of vertical axis in the process of walking；
Fig. 9 is the comparison diagram of the acceleration of vertical axis and the acceleration of advance shaft；
Figure 10 is a kind of flow diagram of localization method provided in an embodiment of the present invention；
Figure 11 is a kind of structural schematic diagram of step count set provided in an embodiment of the present invention；
Figure 12 is a kind of structural schematic diagram of positioning device provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to solve the problems existing in the prior art, a kind of step counting, localization method and device provided in an embodiment of the present invention, under
Kept man of a noblewoman is first illustrated a kind of step-recording method provided in an embodiment of the present invention.
Fig. 2 is a kind of flow diagram for step-recording method that the embodiment of the present invention mentions, this method comprises:
S101: in pre-set detection cycle, the first peak value/first valley of the acceleration of advance axis direction is determined
With the second peak value/second valley of the acceleration of vertical axis.
In embodiments of the present invention, the acceleration of advance axis direction and the acceleration of vertical axis are by acceleration sensing
Device acquisition, acceleration transducer may be mounted at the intelligent terminals such as smart phone, smartwatch, Intelligent bracelet, tablet computer.
Specifically, the detection cycle makes a move the required time not less than predetermined pedestrian's row.
In embodiments of the present invention, detection cycle makes a move the required time not less than predetermined pedestrian's row, this
Sample ensure that peak value/valley in detection cycle there are the acceleration of at least one advance shaft.At least one vertical axis
Peak value/valley of acceleration further ensure that at least can detecte pedestrian in a detection cycle has walked one
Step.
In practical applications, the cadence of pedestrian's normal walking is between 1Hz to 2.4Hz, i.e., pedestrian is in normal walking time step
Frequency is 1-2.4 step/second, and cadence of the pedestrian in running is no more than 3.5 steps/second.In order to guarantee in a detection cycle, pedestrian
It has at least walked a step, general detection cycle will not be arranged too short, and illustratively, detection cycle can be more than or equal to 0.42 second,
Detection cycle is 1 second, 2 seconds etc..While in order to improve the experience of user, the step number for allowing user's timely learning oneself to walk, together
When be accurately located to obtain, detection cycle generally will not be too long.Specifically, the specific size of detection cycle can be according to reality
Border situation determines.
It will be appreciated by persons skilled in the art that analyzed by the acceleration of three axis to pedestrian's walking process,
The acceleration of the acceleration and vertical axis that can determine advance axis direction is in cyclically-varying, and rule when walking with pedestrian
Rule matches, but the acceleration of X-direction does not have king-sized effect to step counting without rule.Therefore, in the embodiment of the present invention
In, only determine advance axis direction acceleration the first peak value/first valley and vertical axis acceleration the second peak value/
Second valley.In practical application, two of the acceleration of advance axis direction and the acceleration of vertical axis can be usually determined
Peak value is detected with two peak values.It is of course also possible to determine two valleies, detected with two valleies.
First peak value mentioned here/first valley be advance axis direction acceleration peak value/valley, the second peak value/
Second valley is peak value/valley of the acceleration in vertical value direction.In embodiments of the present invention, it needs in detection cycle, really
Peak value/valley of the acceleration of peak value/valley and vertical axis of the acceleration of each fixed advance axis direction.
Specifically, it is described in pre-set detection cycle, determine the first peak value/the of the acceleration of advance axis direction
Second peak value of one valley and the acceleration of vertical axis/the second valley, comprising:
Using predetermined low-pass filter, acceleration to the advance axis direction in pre-set detection cycle and
The acceleration of vertical axis is filtered；Wherein, the cut-off frequecy of passband of the low-pass filter is not less than predetermined
Maximum cadence when the pedestrian walks；
Determine the acceleration of filtered advance axis direction the first peak value/first valley and filtered vertical axis
Acceleration the second peak value/second valley.
In detection cycle, obviously there is deviation in the acceleration of advance axis direction and the acceleration of vertical axis of acquisition
The acceleration of normal acceleration range, needs by filtering this partial filtration acceleration.It in this way can be to avoid determining
Second peak value of the first peak value of the acceleration of advance axis direction/first valley or the acceleration of vertical axis/the second valley
Inaccuracy in turn results in the inaccuracy of step counting.
In embodiments of the present invention, low-pass filter can be Butterworth LPF, Chebyshev's low-pass filtering
Device etc., low-pass filter only need to meet maximum cadence of the cut-off frequecy of passband not less than predetermined pedestrian walking when
?.This ensure that useful acceleration information will not be filtered, and then it ensure that and will not miss paces number.Low-pass filter
Stopband cutoff frequency need be greater than cut-off frequecy of passband, but occurrence can according to the actual situation depending on.
Illustratively, the curve graph changed with sampled point in the 3-axis acceleration of acquisition is as shown in figure 3, specifically, three axis
Acceleration is acceleration transducer acquisition, and acceleration transducer is to use frequency for 50Hz.Wherein, curve 201 is vertical axis
The curve that the acceleration in direction changes with sampled point；Curve 202 is the curve that the acceleration of advance axis direction changes with sampled point；
Curve 203 is the curve graph that the acceleration of X-direction changes with sampled point.Use cut-off frequecy of passband for 3Hz, stopband cutoff frequency
Rate is the Butterworth LPF of 10Hz, and the filter window of the Butterworth LPF is as shown in Figure 4.Pass through Bart
Butterworth low-pass filter is filtered the acceleration in Fig. 3, the acceleration of filtered advance axis direction and vertical axis
The curve graph changed with sampled point is as shown in Figure 5.Wherein, curve 301 is the acceleration of filtered vertical axis with sampling
The curve of point variation；Curve 302 is the curve that the acceleration of filtered advance axis direction changes with sampled point.By Fig. 3 and
Fig. 5 comparison, it is known that, the curve that the acceleration of filtered vertical axis changes with sampled point is more compared to the curve before filtering
Add smooth；The curve that the acceleration of filtered advance axis direction changes with sampled point is also more flat compared to the curve before filtering
It is sliding.
S102: it obtains and occurs the first time of occurrence of the first peak value/first valley every time, and occur and described first every time
Peak value/first valley has the second time of occurrence of the second peak value/second valley of corresponding relationship；Wherein, the corresponding relationship
It is to be determined in the detection cycle according to the sequence that the first peak value/first valley and the second peak value/second valley occur.
In embodiments of the present invention, corresponding relationship is in detection cycle, according to the first peak value/first valley and the second peak
It is worth what the sequence that the/the second valley occurs determined.Illustratively, in detection cycle, in the first peak value or the first valley for the first time
Peak value/the valley occurred for the first time in peak value/valley of appearance and the second peak value/second valley has corresponding relationship.
Occur the first time of occurrence of the first peak value/first valley every time specifically, obtaining, and occurs every time and described the
One peak value/first valley has the second time of occurrence of the second peak value/second valley of corresponding relationship, comprising:
A peak value/valley is selected in first peak value/first valley, is determined as target peak/target valley；
Determine that the first time of occurrence of the target peak/target valley and third peak value/third valley second occur
Time, wherein the third peak value/third valley is in second peak value/second valley, with the target peak/mesh
Mark peak value/valley that valley has corresponding relationship；
From first peak value/first valley, selects one and be not determined as target peak/target valley peak value/paddy
Value, is updated to selected peak value/valley for the target peak/target valley, and return execution determine the target peak/
The step of the first time of occurrence and the second time of occurrence of third peak value/third valley of target valley, until the first peak value/the
Peak value/valley in one valley is targeted peak value/target valley.
It will be appreciated by persons skilled in the art that each acceleration corresponds to a time, the acceleration is collected
The time of degree is exactly the time of occurrence of the acceleration.In embodiments of the present invention, it needs to obtain and occurs the first peak value/the first every time
First time of occurrence of valley, and occur the second peak value/second paddy that there is corresponding relationship with the first peak value/first valley every time
Second time of occurrence of value.Specifically, when can obtain the appearance of the peak value or valley in the first peak value/first valley one by one
Between, at the same obtain the first peak value/first valley in peak value/valley time of occurrence after, then, obtain the second peak value/
Peak value/valley time of occurrence with the peak value/valley with corresponding relationship in second valley.In practical applications, it obtains
Occur the first time of occurrence of the first peak value/first valley every time, can be each appearance first occurred every time according to acquisition
The corresponding sampled point of peak value/first valley determines.Illustratively, sample frequency 50Hz, in detection cycle, advance shaft side
To the corresponding sampled point of second peak value be sampled point 15, then when can determine the appearance of second peak value of advance axis direction
Between beSecond.
S103: the first difference between the second time of occurrence and the first time of occurrence every time is calculated.
In embodiments of the present invention, it is associated with because having between the first peak value/first valley and the second peak value/second valley
Relationship, the first time of occurrence are the first peak value/first valley time of occurrence, and the second time of occurrence is the second peak value/second paddy
The time of occurrence of value can extrapolate the corresponding relationship of the first time of occurrence and the second time of occurrence.It is mentioned here to calculate the
The first difference between two time of occurrence and the first time of occurrence is exactly that the second time of occurrence and second time of occurrence have one by one
There is the first difference between the first time of occurrence of corresponding relationship.Inferred according to above it is found that second goes out if pedestrian is walking
Corresponding first time of occurrence is generally larger than between current, therefore, the first difference mentioned here is that the second time of occurrence subtracts
The obtained difference of first time of occurrence.
S104: the number that first difference is no more than the first preset threshold is recorded.
During pedestrian's walking, double-legged alternating movement, in a walking period, the schematic diagram of double-legged alternating movement
It can be as shown in Figure 6.One walking period are as follows: the batter is heelstrike arrived with the process that lands again in side when walking.One
A walking period is divided into support phase (stance phase) and swing phase (swing phase), support phase be foot contact ground and
The time for bearing gravity, account for the 60% of walking period.The support phase most of the time is single foot support.Swing phase is that swing phase refers to foot
It takes a step forward with leaving to the time between landing again, accounts for the 40% of walking period.
In the prior art, there is also the step-recording method based on zero-speed detection principle, the theoretical foundation of zero-speed detection is row
It is the zero-speed moment at the time of foot replaces contiguously when people's normal walking.Exemplary, Fig. 7 is in the process of walking, on pedestrian's foot
The speed of one point A is with the curve of time change, and available from Fig. 7, the interval between T1 and T2 is exactly the zero-speed moment, i.e.,
Period corresponding to Δ T is exactly the zero-speed moment.Step-recording method based on zero-speed detection principle are as follows: from the foot for being fixed on pedestrian
Portion, waist or head acceleration sensor obtain acceleration, if the variance yields of acceleration change within a certain period of time, are less than pre-
If threshold value, it is determined that the time is the zero-speed moment, and 1 is added on step counting number.This step-recording method is applied to strapdown inertial navigation
System, the case where not being suitable for hand-held intelligent terminal.Pedestrian's hand-held intelligent terminal when walking, relative to strapdown inertial navigation
Acceleration transducer position in system is fixed, and the position of the acceleration transducer in intelligent terminal is not fixed, obtained acceleration
Degree does not know larger, is difficult to detect the zero-speed moment, causing cannot accurately step counting.
Present inventor it has been investigated that, under normal circumstances, pedestrian walk when, the acceleration and advance shaft of vertical axis
Acceleration at periodic variation, in the process of walking, the variation of the acceleration of the acceleration and advance shaft of vertical axis is illustrated
Figure can with as shown in figure 8, start walking when, the acceleration of vertical axis is gradually increased, increase to a certain extent it
After reduce；The acceleration of advance axis direction is also being gradually increased, and is reduced after increasing to a certain extent.As shown in figure 9, curve 11
It is the curve that the acceleration of vertical axis changes with sampled point；Curve 12 is that the acceleration of advance axis direction changes with sampled point
Curve.It can be seen in figure 9 that the acceleration of advance axis direction arrives first reach to peak value, reached after the acceleration of vertical axis
Peak value.The variation tendency of this acceleration of the rule with pedestrian during walking matches.In embodiments of the present invention, really
Determine the difference between the acceleration peak value time of occurrence of vertical axis and the acceleration peak value time of occurrence of advance axis direction, when
When the difference is not more than the first preset threshold, the difference corresponding period is the zero-speed moment.In Fig. 9, rectangle frame is in horizontal axis
On moment be exactly moment that pedestrian's sole completely attaches to ground, that is, zero-speed moment, when rectangle frame is corresponding on transverse axis
Between interval be exactly it is above-mentioned described in the first difference.
In embodiments of the present invention, the first preset threshold can count normal walking mistake determines according to actual conditions
Cheng Zhong, the time of occurrence of the acceleration peak value of the time of occurrence and advance axis direction of the acceleration peak value of vertical axis calculate
Difference between the time of occurrence of the acceleration peak value of the time of occurrence and advance axis direction of the acceleration peak value of vertical axis,
Determine the first preset threshold, illustratively, the first preset threshold can be 240 milliseconds.
S105: judging in the detection cycle, and it is default whether the average value of the acceleration of advance axis direction is greater than second
Threshold value.
In embodiments of the present invention, if other conditions are the same, it at the same time, obtains pedestrian and holds intelligence
When energy terminal moves up and down, the average value of the acceleration of advance axis direction；When acquisition pedestrian marks time, the acceleration of advance axis direction
Average value；When obtaining pedestrian's normal walking, the average value of the acceleration of advance axis direction.By being carried out to these three average values
Research finds that the average value of the acceleration of pedestrian's normal walking is not only greater than the acceleration average value marked time, also greater than hand-held intelligence
The average value of acceleration when energy terminal moves up and down.Therefore, in embodiments of the present invention, the second preset threshold is being less than pedestrian just
The often average value of acceleration when walking, the average value of acceleration when marking time greater than pedestrian, also greater than on hand-held intelligent terminal
The average value of acceleration when lower mobile.Illustratively, the average value of acceleration when hand-held intelligent terminal moves up and down is
1.16893m/s2, the average value of acceleration when pedestrian marks time is 1.87583m/s2, acceleration when pedestrian's normal walking it is flat
Mean value is 3.01653m/s2, then the second preset threshold can be 3m/s2。
S106: increase recorded number on current step counting number.
In the case where the average value for judging the acceleration of advance axis direction in detection cycle is greater than the second preset threshold,
Execute S106.It should be noted that increasing by 1 step one by one on current step counting number, remembered until being increased in current step counting number
The number of record.In embodiments of the present invention, can be avoided because pedestrian position it is motionless and caused by intelligent terminal change in location
Mistake step counting, and the walking states of pedestrian can be effectively identified, accurately step counting is carried out, further, because of step counting
Accurately, accurate navigation results can also be provided for pedestrian.
It is first poor every time between the second time of occurrence and the first time of occurrence by calculating using the embodiment of the present invention
Value, the first difference of record is no more than the number of first preset threshold, so that it is determined that the step number that pedestrian walks in detection cycle,
Further, the case where the average value for determining the acceleration of advance axis direction in detection cycle is greater than the second preset threshold
Under, increase recorded number on step counting number, to improve the accuracy of step counting.
Figure 10 is a kind of flow diagram of localization method provided in an embodiment of the present invention, this method comprises:
S401: in pre-set detection cycle, the first peak value/first valley of the acceleration of advance axis direction is determined
With the second peak value/second valley of the acceleration of vertical axis.
S402: it obtains and occurs the first time of occurrence of the first peak value/first valley every time, and occur and described first every time
Peak value/first valley has the second time of occurrence of the second peak value/second valley of corresponding relationship；Wherein, the corresponding relationship
It is to be determined in the detection cycle according to the sequence that the first peak value/first valley and the second peak value/second valley occur.
S403: the first difference between the second time of occurrence and the first time of occurrence every time is calculated.
S404: the number that first difference is no more than the first preset threshold is recorded.
S405: judging in the detection cycle, and it is default whether the average value of the acceleration of advance axis direction is greater than second
Threshold value；
S406: increase recorded number on current step counting number.
It should be noted that S401-S406 is identical as S101-S106 difference respectively, herein without repeating.
S407: corresponding according to the current position coordinates of pedestrian, the step-length that pedestrian's row makes a move and the number recorded
Course angle, position the pedestrian and walk the position coordinates after a step.
It will be appreciated by persons skilled in the art that the step-length that pedestrian's row makes a move can be it is pre-set, can also be with
It is made a move generated distance according to practical pedestrian's row, it is possible to further acceleration pair caused by during making a move to row
Time integral determines the step-length that pedestrian's row makes a move.Certainly, it is not limited in the side for the step-length that above-mentioned determining pedestrian's row makes a move
The method of method, the step-length that the embodiment of the present invention does not make a move to determining pedestrian's row is defined.The current position coordinates of pedestrian
Course angle corresponding with the number recorded can be determined by method in the prior art, herein without repeating.
The position after pedestrian's one step of walking can be positioned by following pedestrian's reckoning formula in embodiments of the present invention
Coordinate:
Ek+1=EK+Sk·sin(ak)
Nk+1=NK+Sk·cos(ak)
Wherein, EKFor the position coordinates of current pedestrian's east orientation, NKFor the position coordinates of current pedestrian's north orientation, SkFor pedestrian's row
The step-length to make a move, akFor the corresponding course angle of a number step therein recorded, Ek+1East orientation after making a move for pedestrian's row
Position coordinates；Nk+1The position coordinates of north orientation after making a move for pedestrian's row.
It is first poor every time between the second time of occurrence and the first time of occurrence by calculating using the embodiment of the present invention
Value, the first difference of record is no more than the number of first preset threshold, so that it is determined that the step number that pedestrian walks in detection cycle,
Further, the case where the average value for determining the acceleration of advance axis direction in detection cycle is greater than the second preset threshold
Under, increase recorded number on step counting number, improves the accuracy of step counting.By accurately step counting, further, improve
The accuracy of indoor positioning.
Figure 11 is a kind of structural schematic diagram of step count set provided in an embodiment of the present invention, which includes the first determining mould
Block 501, first obtains module 502, the first computing module 503, the first logging modle 504, first judgment module 505 and first and increases
Add module 506, wherein
First determining module 501 determines the of the acceleration of advance axis direction in pre-set detection cycle
Second peak value of one peak value/first valley and the acceleration of vertical axis/the second valley；
First obtains module 502, occurs the first time of occurrence of the first peak value/first valley every time for obtaining, and every
Secondary appearance has the second time of occurrence of the second peak value/second valley of corresponding relationship with first peak value/first valley；Its
In, the corresponding relationship is to be gone out in the detection cycle according to the first peak value/first valley and the second peak value/second valley
What existing sequence determined；
First computing module 503, for calculating the first difference between the second time of occurrence and the first time of occurrence every time；
First logging modle 504, the number for being no more than the first preset threshold for recording first difference；
First judgment module 505, for judging in the detection cycle, the average value of the acceleration of advance axis direction is
It is no to be greater than the second preset threshold；
First increase module 506, for the judging result of the first judgment module 505 be greater than in the case where,
Increase recorded number on current step counting number.
Specifically, the detection cycle makes a move the required time not less than predetermined pedestrian's row.
Specifically, first determining module 501, including filtering submodule and first determine that submodule (does not show in figure
Out).
Submodule is filtered, for utilizing predetermined low-pass filter, to the advance in pre-set detection cycle
The acceleration of axis direction and the acceleration of vertical axis are filtered；Wherein, the cut-off frequecy of passband of the low-pass filter
Maximum cadence when not less than predetermined pedestrian walking；
First determines submodule, the first peak value/first valley of the acceleration for determining filtered advance axis direction
With the second peak value/second valley of the acceleration of filtered vertical axis.
Specifically, first obtains module 502, including second determines that submodule, third determine submodule and selection submodule
(not shown).
Second determines submodule, for selecting a peak value/valley in first peak value/first valley, is determined as mesh
Mark peak value/target valley；
Third determines submodule, for determine the first time of occurrence of the target peak/target valley and third peak value/
Second time of occurrence of third valley, wherein the third peak value/third valley be in second peak value/second valley,
There is peak value/valley of corresponding relationship with the target peak/target valley；
Submodule is selected, for one being selected and not being determined as target peak/mesh from first peak value/first valley
Peak value/the valley for marking valley, is updated to selected peak value/valley for the target peak/target valley, and returns and execute institute
It states third and determines submodule, until peak value/valley in the first peak value/first valley is targeted peak value/target paddy
Value.
It is first poor every time between the second time of occurrence and the first time of occurrence by calculating using the embodiment of the present invention
Value, the first difference of record is no more than the number of first preset threshold, so that it is determined that the step number that pedestrian walks in detection cycle,
Further, the case where the average value for determining the acceleration of advance axis direction in detection cycle is greater than the second preset threshold
Under, increase recorded number on step counting number, to improve the accuracy of step counting.
Figure 12 is a kind of structural schematic diagram of positioning device provided in an embodiment of the present invention, which includes the second determining mould
Block 601, second obtains module 602, the second computing module 603, the second logging modle 604, the second judgment module 605 and second
Increase module 606 and locating module 607, wherein
Second determining module 601 determines the of the acceleration of advance axis direction in pre-set detection cycle
Second peak value of one peak value/first valley and the acceleration of vertical axis/the second valley；
Second obtains module 602, occurs the first time of occurrence of the first peak value/first valley every time for obtaining, and every
Secondary appearance has the second time of occurrence of the second peak value/second valley of corresponding relationship with first peak value/first valley；Its
In, the corresponding relationship is to be gone out in the detection cycle according to the first peak value/first valley and the second peak value/second valley
What existing sequence determined；
Second computing module 603, for calculating the first difference between the second time of occurrence and the first time of occurrence every time；
Second logging modle 604, the number for being no more than the first preset threshold for recording first difference；
Second judgment module 605, for judging in the detection cycle, the average value of the acceleration of advance axis direction is
It is no to be greater than the second preset threshold；
Second increase module 606, for the judging result of second judgment module 605 be greater than in the case where,
Increase recorded number on current step counting number；
Locating module 607, step-length for being made a move according to the current position coordinates of pedestrian, pedestrian's row and is recorded
The corresponding course angle of number, position the pedestrian and walk the position coordinates after a step.
It is first poor every time between the second time of occurrence and the first time of occurrence by calculating using the embodiment of the present invention
Value, the first difference of record is no more than the number of first preset threshold, so that it is determined that the step number that pedestrian walks in detection cycle,
Further, the case where the average value for determining the acceleration of advance axis direction in detection cycle is greater than the second preset threshold
Under, increase recorded number on step counting number, improves the accuracy of step counting.By accurately step counting, further, improve
The accuracy of indoor positioning.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of step-recording method, which is characterized in that the described method includes:
In pre-set detection cycle, the first peak value/first valley and vertical axis of the acceleration of advance axis direction are determined
Second peak value of the acceleration in direction/the second valley；
It obtains and occurs the first time of occurrence of the first peak value/first valley every time, and occur and first peak value/the first every time
Valley has the second time of occurrence of the second peak value/second valley of corresponding relationship；Wherein, the corresponding relationship is in the inspection
It surveys in the period, is determined according to the sequence that the first peak value/first valley and the second peak value/second valley occur；
Calculate the first difference between the second time of occurrence and the first time of occurrence every time；
Record the number that first difference is no more than the first preset threshold；
Judge in the detection cycle, whether the average value of the acceleration of advance axis direction is greater than the second preset threshold；
If it does, increasing recorded number on current step counting number.
2. the method according to claim 1, wherein the detection cycle is walked not less than predetermined pedestrian
Time required for one step.
3. the method according to claim 1, wherein described in pre-set detection cycle, determining advance
Second peak value of the first peak value of the acceleration of axis direction/first valley and the acceleration of vertical axis/the second valley, packet
It includes:
Using predetermined low-pass filter, acceleration to the advance axis direction in pre-set detection cycle and vertical
The acceleration of axis direction is filtered；Wherein, the cut-off frequecy of passband of the low-pass filter is not less than predetermined pedestrian
Maximum cadence when walking；
Determine the first peak value/first valley of the acceleration of filtered advance axis direction and adding for filtered vertical axis
Second peak value of speed/the second valley.
4. method according to claim 1-3, which is characterized in that the first peak value/the occurs every time in the acquisition
First time of occurrence of one valley, and each the second peak value for occurring that there is corresponding relationship with first peak value/first valley/
Second time of occurrence of the second valley, comprising:
A peak value/valley is selected in first peak value/first valley, is determined as target peak/target valley；
Determine the first time of occurrence of the target peak/target valley and the second time of occurrence of third peak value/third valley,
Wherein, the third peak value/third valley is in second peak value/second valley, with the target peak/target valley
Peak value/valley with corresponding relationship；
From first peak value/first valley, selects one and be not determined as target peak/target valley peak value/valley, it will
The target peak/target valley is updated to selected peak value/valley, and returns to execution and determine the target peak/target
The step of the first time of occurrence and the second time of occurrence of third peak value/third valley of valley, until the first peak value/first paddy
Peak value/valley in value is targeted peak value/target valley.
5. a kind of localization method, which is characterized in that the described method includes:
In pre-set detection cycle, the first peak value/first valley and vertical axis of the acceleration of advance axis direction are determined
Second peak value of the acceleration in direction/the second valley；
It obtains and occurs the first time of occurrence of the first peak value/first valley every time, and occur and first peak value/the first every time
Valley has the second time of occurrence of the second peak value/second valley of corresponding relationship；Wherein, the corresponding relationship is in the inspection
It surveys in the period, is determined according to the sequence that the first peak value/first valley and the second peak value/second valley occur；
Calculate the first difference between the second time of occurrence and the first time of occurrence every time；
Record the number that first difference is no more than the first preset threshold；
Judge in the detection cycle, whether the average value of the acceleration of advance axis direction is greater than the second preset threshold；
If it does, increasing recorded number on current step counting number；
The step-length course angle corresponding with the number recorded to be made a move according to the current position coordinates of pedestrian, pedestrian's row,
The pedestrian is positioned to walk the position coordinates after a step.
6. a kind of step count set, which is characterized in that described device includes:
First determining module, in pre-set detection cycle, determine the first peak value of the acceleration of advance axis direction/
Second peak value of the first valley and the acceleration of vertical axis/the second valley；
First obtain module, for obtain every time occur the first time of occurrence of the first peak value/first valley, and every time occur with
First peak value/first valley has the second time of occurrence of the second peak value/second valley of corresponding relationship；Wherein, described
Corresponding relationship is in the detection cycle, according to the first peak value/first valley and the second peak value/second valley appearance sequence
Determining；
First computing module, for calculating the first difference between the second time of occurrence and the first time of occurrence every time；
First logging modle, the number for being no more than the first preset threshold for recording first difference；
First judgment module, for judging in the detection cycle, whether the average value of the acceleration of advance axis direction is greater than
Second preset threshold；
First increase module, for the judging result of the first judgment module be greater than in the case where, in current step counting
Increase recorded number on number.
7. device according to claim 6, which is characterized in that the detection cycle is walked not less than predetermined pedestrian
Time required for one step.
8. device according to claim 6, which is characterized in that first determining module, comprising:
Submodule is filtered, for utilizing predetermined low-pass filter, to the advance shaft side in pre-set detection cycle
To acceleration and the acceleration of vertical axis be filtered；Wherein, the cut-off frequecy of passband of the low-pass filter is not small
Maximum cadence when predetermined pedestrian walking；
First determines submodule, the first peak value/first valley of the acceleration for determining filtered advance axis direction and filter
Second peak value of the acceleration of the vertical axis after wave/the second valley.
9. according to the described in any item devices of claim 6-8, which is characterized in that described first obtains module, comprising:
Second determines submodule, for selecting a peak value/valley in first peak value/first valley, is determined as target peak
Value/target valley；
Third determines submodule, for determining the first time of occurrence of the target peak/target valley and third peak value/third
Second time of occurrence of valley, wherein the third peak value/third valley is in second peak value/second valley, with institute
State peak value/valley that target peak/target valley has corresponding relationship；
Submodule is selected, for one being selected and not being determined as target peak/target paddy from first peak value/first valley
The target peak/target valley is updated to selected peak value/valley by peak value/valley of value, and is returned and executed described the
Three determine submodule, until peak value/valley in the first peak value/first valley is targeted peak value/target valley.
10. a kind of positioning device, which is characterized in that described device includes:
Second determining module, in pre-set detection cycle, determine the first peak value of the acceleration of advance axis direction/
Second peak value of the first valley and the acceleration of vertical axis/the second valley；
Second obtain module, for obtain every time occur the first time of occurrence of the first peak value/first valley, and every time occur with
First peak value/first valley has the second time of occurrence of the second peak value/second valley of corresponding relationship；Wherein, described
Corresponding relationship is in the detection cycle, according to the first peak value/first valley and the second peak value/second valley appearance sequence
Determining；
Second computing module, for calculating the first difference between the second time of occurrence and the first time of occurrence every time；
Second logging modle, the number for being no more than the first preset threshold for recording first difference；
Second judgment module, for judging in the detection cycle, whether the average value of the acceleration of advance axis direction is greater than
Second preset threshold；
Second increase module, for the judging result of second judgment module be greater than in the case where, in current step counting
Increase recorded number on number；
Locating module, for according to the current position coordinates of pedestrian, the step-length that pedestrian's row makes a move and the number recorded
Corresponding course angle positions the pedestrian and walks the position coordinates after a step.
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| CN113218395B (en) * | 2017-06-23 | 2024-06-11 | 北京方位捷讯科技有限公司 | Pedestrian walking track detection method, device and system |
| CN107393260B (en) * | 2017-07-31 | 2020-04-21 | 歌尔科技有限公司 | Sedentariness reminding method and device and wrist type sedentariness reminder |
| CN108195395A (en) * | 2017-11-17 | 2018-06-22 | 捷开通讯(深圳)有限公司 | Mobile terminal and its step-recording method, storage device |
| CN108197082B (en) * | 2017-12-05 | 2021-06-11 | 东南大学 | Step counting method based on step reliability estimation |
| CN108404394A (en) * | 2018-02-09 | 2018-08-17 | 上海康斐信息技术有限公司 | The computational methods and system, wearable device of a kind of running distance for wearable device |
| CN109448417A (en) * | 2018-10-09 | 2019-03-08 | 广州安迪信息技术有限公司 | A kind of parking lot reverse car search navigation system and method based on barcode scanning location technology |
| CN109405832B (en) * | 2018-10-18 | 2020-06-09 | 南京理工大学 | Target step length estimation method |
| CN109646009B (en) * | 2018-11-15 | 2021-11-26 | 北京中科汇成科技有限公司 | Gait space-time parameter calculation method based on portable gait analysis system |
| CN113551687B (en) * | 2021-09-23 | 2021-12-17 | 珠海市杰理科技股份有限公司 | Step counting method, step counting device, step counting equipment, computer storage medium and chip |
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