CN107843256A - Adaptive zero-velocity curve pedestrian navigation method based on MEMS sensor - Google Patents
Adaptive zero-velocity curve pedestrian navigation method based on MEMS sensor Download PDFInfo
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- CN107843256A CN107843256A CN201710943499.3A CN201710943499A CN107843256A CN 107843256 A CN107843256 A CN 107843256A CN 201710943499 A CN201710943499 A CN 201710943499A CN 107843256 A CN107843256 A CN 107843256A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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Abstract
The invention discloses a kind of adaptive zero-velocity curve pedestrian navigation method based on MEMS sensor, on the basis of MEMS sensor output under gait and different motion mode when analyzing the multi-faceted motion of human body, propose that zero-velocity curve distinguished number auxiliary inertial navigation is resolved to correct the problem of information such as the velocity location of strapdown resolving dissipate with the time；Adaptive zero-velocity curve model is established according to the actual motion characteristic of pedestrian simultaneously, changes zero-speed discrimination threshold in real time.The present invention solves the divergence problem that pure inertia under different pedestrian's different motion mode resolves lower velocity location well, the adaptivity and reliability of pedestrian navigation positioning when improving human body multi-faceted motion.
Description
Technical field
The present invention relates to integrated navigation technology field, more particularly to a kind of adaptive zero-velocity curve based on MEMS sensor
Pedestrian navigation method.
Background technology
One of major domain that pedestrian's location navigation develops as civil navigation technology in the last few years, be just gradually taken seriously and
Research.Existing pedestrian navigation research direction can be divided mainly into two categories below：When the source positioning based on all kinds of wireless networks, so
And this kind of method relies on extras (such as WIFI, bluetooth, UWB), positioning precision is affected by environment larger, is easily disturbed；Two
It is the pedestrian navigation positioning based on MEMS sensor, using inertia device as core, there is the spy of high accuracy and high stability in short-term
Point, it is a kind of entirely autonomous navigation system, but program error under long-time can accumulate and dissipate rapidly.
For single autonomous inertial navigation, inexpensive MEMS strapdowns resolving height error is larger, and divergence speed
Comparatively fast, it is necessary to by effective amendment, it is actually available just to can ensure that altimeter calculates precision.Strapdown resolve course error also compared with
Greatly, easily fluctuate, cause navigation results not to be inconsistent with actual path, it is necessary to by effective amendment, navigation could be improved
As a result precision.There is multi-motion mode in pedestrian, such as quick walking, running, stair activity, jump during actual motion
Deng, meanwhile, there is also larger difference, the detection of gait are difficult with differentiating between gait in motion process by different people；It is and existing
Domestic and international research be concentrated mainly on pedestrian normal walking mode identification, for quick walking, running, stair activity, jump
Jump etc., which also rarely has, to be referred to.Meanwhile existing zero-speed detection method can not adapt to be based on different pedestrian's gaits, difference under different components
The defects of mode of motion, it is also necessary to carry out deeper into research.
The content of the invention
The technical problems to be solved by the invention are to be directed to the defects of involved in background technology, there is provided one kind is based on
The adaptive zero-velocity curve pedestrian navigation method of MEMS sensor.
The present invention uses following technical scheme to solve above-mentioned technical problem：
Adaptive zero-velocity curve pedestrian navigation method based on MEMS sensor, is comprised the steps of：
Step 1）, the MEMS sensor for being internally integrated accelerometer and gyroscope is fixed on pedestrian's foot instep position；
Step 2）, MEMS sensor gathers the acceleration and angular acceleration information during pedestrian movement in real time, wherein, using adding
Speedometer gathers acceleration information, using the real-time acquisition angle acceleration information of gyroscope in real time, and is preserved；
Step 3）, according to the output information of accelerometer and gyroscope under different motion mode establish pedestrian motion differentiate mould
Type, the motion discrimination model based on the pedestrian differentiate the mode of motion of pedestrian；
The different motion mode include it is preceding to walking, retreat walking, left laterally walking, right laterally walking and integrated motion mould
State；
Step 4）, the action current to pedestrian set time window, calculate the average of acceleration and angular acceleration in time window,
Acceleration rate threshold and angular acceleration threshold value are re-set as after modulus value information and by the value calculated；
Step 5）, judge whether pedestrian is currently in the zero-speed moment：When the output valve of accelerometer is less than the acceleration rate threshold
And when the output valve of gyroscope is less than the angular acceleration threshold value, it is believed that the speed of pedestrian now is zero；
Step 5.1）If pedestrian is currently at the zero-speed moment, inertial navigation resolving is carried out, and zero-speed is carried out to the result of resolving
Amendment, i.e., the speed calculated inertial navigation artificially zero setting；
Step 5.2）If pedestrian is not currently in the zero-speed moment, inertial navigation resolving is carried out, obtains posture, the speed of pedestrian
And positional information.
Due to pedestrian motion when foot acceleration and angular speed value not fully keep constant therefore set threshold value
The actual motion state change according to pedestrian is needed, could its landing section of accurate judgement.But because the motion of pedestrian can not wink
Between change, set time window to analyze acceleration magnitude and magnitude of angular velocity, obtain the equal of acceleration and angular acceleration
Value, modulus value information, and with new average and the threshold value of modulus value information real-time update zero-velocity curve：I.e. acceleration rate threshold and angle accelerate
Threshold value is spent, current pedestrian movement's state is judged and corrected.
Time window is set according to specific motion state, usually the 1% ~ 2% of a period of motion, for example,
Pedestrian normally walks, and a period of motion is about 1 second, and different pedestrian's cadences is inconsistent, there is fine distinction, then now when
Between window can be set to 0.1 second ~ 0.2 second；If pedestrian runs, a period of motion can shorten, about 0.7 second, or even shorter,
Time window now correspondingly will set shorter, and renewal frequency can be with quicker.
Due to the error with time integral can be brought in inertial navigation solution process, according to pedestrian during actual motion
Foot it can land completely for some time, speed now is regarded as zero.Described in being less than when the output valve of accelerometer
Acceleration rate threshold and when the output valve of gyroscope is less than the angular acceleration threshold value, it is believed that the speed of pedestrian now is zero,
The direct zero setting of speed for resolving strapdown in program, and attitude angle is resolved according to accelerometer information again.
The present invention compared with prior art, has following technique effect using above technical scheme：
The present invention is analyzed pedestrian movement based on inexpensive MEMS sensor, the gait in the multi-faceted motion of analysis human body
And on the basis of the MEMS sensor output under different motion mode, propose zero-velocity curve distinguished number auxiliary inertial navigation solution
Calculate to correct the problem of information such as the velocity location of strapdown resolving dissipate with the time；Built simultaneously according to the actual motion characteristic of pedestrian
Adaptive zero-velocity curve model is found, changes zero-speed discrimination threshold in real time.The present invention solves different pedestrian's different motions well
Pure inertia under mode resolves the divergence problem of lower velocity location, when improving human body multi-faceted motion pedestrian navigation positioning from
Adaptability and reliability.
Brief description of the drawings
Fig. 1 is inertial navigation algorithm block diagram in the present invention；
Fig. 2 is pedestrian navigation programmed algorithm flow chart embodiment in the present invention；
Fig. 3 moves gyro raw data for forward-backward in the present invention；
Fig. 4 is forward-backward acceleration of motion meter initial data in the present invention；
Fig. 5 is multi-faceted motion gyro raw data in the present invention；
Fig. 6 is multi-faceted acceleration of motion meter initial data in the present invention；
Fig. 7 is the zero-speed detection section in the present invention；
Fig. 8 is that pedestrian's two dimension track in the present invention under forward-backward mode of motion is shown；
Fig. 9 is three axle speeds under forward-backward mode of motion in the present invention；
Figure 10 is that pedestrian's two dimension track in the present invention under multi-faceted mode of motion is shown；
Figure 11 is three axle speeds under multi-faceted mode of motion in the present invention.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
The present invention can be embodied in many different forms, and should not be assumed that to be limited to embodiment described here.Conversely, there is provided
These embodiments will give full expression to the scope of the present invention to make the disclosure thoroughly and complete to those skilled in the art.
In the accompanying drawings, for the sake of clarity it is exaggerated component.
The invention discloses a kind of adaptive zero-velocity curve pedestrian navigation method based on MEMS sensor, following step is included
Suddenly：
Step 1）, the MEMS sensor for being internally integrated accelerometer and gyroscope is fixed on pedestrian's foot instep position；
Step 2）, MEMS sensor gathers the acceleration and angular acceleration information during pedestrian movement in real time, wherein, using adding
Speedometer gathers acceleration information, using the real-time acquisition angle acceleration information of gyroscope in real time, and is preserved；
Step 3）, according to the output information of accelerometer and gyroscope under different motion mode establish pedestrian motion differentiate mould
Type, the motion discrimination model based on the pedestrian differentiate the mode of motion of pedestrian；
The different motion mode include it is preceding to walking, retreat walking, left laterally walking, right laterally walking and integrated motion mould
State；
Step 4）, the action current to pedestrian set time window, calculate the average of acceleration and angular acceleration in time window,
Acceleration rate threshold and angular acceleration threshold value are re-set as after modulus value information and by the value calculated；
Step 5）, judge whether pedestrian is currently in the zero-speed moment：When the output valve of accelerometer is less than the acceleration rate threshold
And when the output valve of gyroscope is less than the angular acceleration threshold value, it is believed that the speed of pedestrian now is zero；
Step 5.1）If pedestrian is currently at the zero-speed moment, inertial navigation resolving is carried out, and zero-speed is carried out to the result of resolving
Amendment, i.e., the speed calculated inertial navigation artificially zero setting；
Step 5.2）If pedestrian is not currently in the zero-speed moment, inertial navigation resolving is carried out, obtains posture, the speed of pedestrian
And positional information.
Resolved as shown in figure 1, the general principle of the present invention is pure strapdown：Adding when Inertial Measurement Unit obtains pedestrian movement
Speed and angular acceleration information, by error compensation, gyro data solves quaternary number and gone forward side by side professional etiquette generalized, is obtained by quaternary number
The accelerometer information of acquisition is simultaneously carried out specific force conversion by posture changing matrix, attitude angle is solved by pose transformation matrix, by four
First number equation and the navigation information solving speed and positional information of last moment simultaneously export；
As shown in Fig. 2 the algorithm flow of the present invention is：Attitude information and quaternionic matrix are first initialized, after navigation starts, in real time
The information such as quaternionic matrix, posture, speed, position are updated, and detect whether current time is the zero-speed moment, if it is, entering
Row zero-velocity curve, otherwise continue pure strapdown and resolve, moved until pedestrian terminates, navigation terminates.
The specific implementation method of this programme is as follows：
1. MEMS sensor output when analyzing the multi-faceted motion of human body
It is pedestrian's forward-backward mode of motion, multi-faceted motion as shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6（Advance-right laterally walking-
Retrogressing-left horizontal walking-retrogressing）Gyro raw data and accelerometer initial data, it can be seen that pedestrian walk it is more
During azimuth motion, the output of gyroscope and accelerometer still has periodically, and the change of Y-axis and Z-direction is with more rule
Rule property, therefore consider to carry out the differentiation of zero-speed according to the change of both, the method for judging zero-speed than three traditional axles is more closed
Rationality.
2. establish the zero-velocity curve discrimination model based on human cinology's model-aided
Analyzed based on human cinology, zero-speed decision condition is set according to the output characteristics of accelerometer and gyroscope, such as Fig. 7-a
Shown in Fig. 7-b, in figure substantially land section in solid line mark out come section be to be utilized respectively accelerometer and gyro
The zero-speed section that instrument judges；The section that dotted line marks in figure is the zero-speed section judged using above-mentioned condition, it is known that
Single condition judgment there may be erroneous judgement situation, cause zero-speed to judge inaccurate, and combines and judge then there is higher accuracy.Cause
This, in pedestrian's navigation locating method, we combine Rule of judgment to judge that current time is using accelerometer and gyroscope
No is the zero-speed moment.
3. establish adaptive zero-velocity curve pedestrian navigation method
Because under different pedestrian's different motion mode, the discrimination threshold of zero-speed has certain difference, and real-time change, it is contemplated that OK
The walking mode of people can not be mutated, therefore the value at zero-speed moment is differentiated using accelerometer in previous short time and gyroscope
As new zero-velocity curve threshold value, whether current time is differentiated in the zero-speed moment.
The present invention is based on inexpensive MEMS sensor, and from 2, pedestrian is when carrying out multi-faceted motion, the Y of accelerometer
Axle and Z axis are with more periodically, and the Z axis of gyroscope has more periodically, therefore, on the basis of original zero-speed differentiates, only
Take accelerometer Y-axis and Z axis modulus value range_acc_g, Z axis gyroscope extreme difference range_wrange and accelerometer variance
The standard that range_std differentiates as zero-speed.
These three variables are initialized based on experience value first；When pedestrian's setting in motion, 0.1s is often crossed i.e. to this
Three threshold values are updated, meet before the value of renewal takes in 0.1s the zero-speed moment range_acc_g, range_wrange,
Range_std average value.
It is pedestrian's forward-backward mode of motion, advance-right horizontal walking-retrogressing-left lateral line as shown in Fig. 8, Figure 10
Walk-setback mode under two-dimentional track schematic diagram.The place of test is the corridor in institute building, and tester consolidates the equipment
Due to foot, according to certain route setting in motion, it can be seen that the two-dimentional track to move forward and backward substantially completely overlaps.Pedestrian
When carrying out multi-faceted walking, in left laterally walking and right laterally walking, because foot is nearly parallel to ground running, zero
Speed differentiation is weaker, and the result that strapdown resolves has dissipated, but the adaptive zero-speed method of discrimination designed by the present invention will be laterally
The diverging error of walking has been withdrawn into original track, the track of walking is formd closed curve.
As shown in Fig. 9, Figure 11, three axle speed angle value during pedestrian movement are given.After the mode of motion by advancing switchs to
When moving back, the velocity attitude of pedestrian also has the change of negative direction immediately；For pedestrian when laterally walking, the fluctuation of sky orientation speed is larger,
Because the foot of pedestrian is almost advance parallel to the ground, therefore in day to there is a larger fluctuation, and the value of east orientation and north orientation
More steady, both reflects the actual speed of travel of pedestrian.
From experiment, the adaptive zero velocity update method designed by the present invention can meet under pedestrian's different motion mode
Multi-faceted motion, there is higher adaptivity and reliability, avoid traditional zero-velocity curve put method need manually set
The trouble of threshold value, the precision of pedestrian navigation and the efficiency of proof of algorithm are improved, among engineering practice.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein（Including skill
Art term and scientific terminology）With the general understanding identical meaning with the those of ordinary skill in art of the present invention.Also
It should be understood that those terms defined in such as general dictionary should be understood that with the context of prior art
The consistent meaning of meaning, and unless defined as here, will not be explained with the implication of idealization or overly formal.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not limited to this hair
It is bright, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., it should be included in the present invention
Protection domain within.
Claims (1)
1. the adaptive zero-velocity curve pedestrian navigation method based on MEMS sensor, it is characterised in that comprise the steps of：
Step 1）, the MEMS sensor for being internally integrated accelerometer and gyroscope is fixed on pedestrian's foot instep position；
Step 2）, MEMS sensor gathers the acceleration and angular acceleration information during pedestrian movement in real time, wherein, using adding
Speedometer gathers acceleration information, using the real-time acquisition angle acceleration information of gyroscope in real time, and is preserved；
Step 3）, according to the output information of accelerometer and gyroscope under different motion mode establish pedestrian motion differentiate mould
Type, the motion discrimination model based on the pedestrian differentiate the mode of motion of pedestrian；
The different motion mode include it is preceding to walking, retreat walking, left laterally walking, right laterally walking and integrated motion mould
State；
Step 4）, the action current to pedestrian set time window, calculate the average of acceleration and angular acceleration in time window,
Acceleration rate threshold and angular acceleration threshold value are re-set as after modulus value information and by the value calculated；
Step 5）, judge whether pedestrian is currently in the zero-speed moment：When the output valve of accelerometer is less than the acceleration rate threshold
And when the output valve of gyroscope is less than the angular acceleration threshold value, it is believed that the speed of pedestrian now is zero；
Step 5.1）If pedestrian is currently at the zero-speed moment, inertial navigation resolving is carried out, and zero-speed is carried out to the result of resolving
Amendment, i.e., the speed calculated inertial navigation artificially zero setting；
Step 5.2）If pedestrian is not currently in the zero-speed moment, inertial navigation resolving is carried out, obtains posture, the speed of pedestrian
And positional information.
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| CN109447128A (en) * | 2018-09-29 | 2019-03-08 | 中国科学院自动化研究所 | Walking based on micro- inertial technology and the classification of motions method and system that remains where one is |
| CN109612463A (en) * | 2018-10-31 | 2019-04-12 | 南京航空航天大学 | A kind of pedestrian navigation localization method based on side velocity constrained optimization |
| CN110553646A (en) * | 2019-07-30 | 2019-12-10 | 南京林业大学 | Pedestrian navigation method based on inertia, magnetic heading and zero-speed correction |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108680184A (en) * | 2018-04-19 | 2018-10-19 | 东南大学 | A kind of zero-speed detection method based on Generalized Likelihood Ratio statistic curve geometric transformation |
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| CN109447128B (en) * | 2018-09-29 | 2021-10-01 | 中国科学院自动化研究所 | Micro-inertia technology-based walking and stepping in-place movement classification method and system |
| CN109612463A (en) * | 2018-10-31 | 2019-04-12 | 南京航空航天大学 | A kind of pedestrian navigation localization method based on side velocity constrained optimization |
| CN109612463B (en) * | 2018-10-31 | 2020-07-07 | 南京航空航天大学 | Pedestrian navigation positioning method based on lateral speed constraint optimization |
| CN114026435A (en) * | 2019-04-23 | 2022-02-08 | 雷诺股份公司 | Method for estimating and adjusting the speed and acceleration of a vehicle |
| CN110553646A (en) * | 2019-07-30 | 2019-12-10 | 南京林业大学 | Pedestrian navigation method based on inertia, magnetic heading and zero-speed correction |
| CN110553646B (en) * | 2019-07-30 | 2023-03-21 | 南京林业大学 | Pedestrian navigation method based on inertia, magnetic heading and zero-speed correction |
| CN112857394A (en) * | 2021-01-05 | 2021-05-28 | 广州偶游网络科技有限公司 | Intelligent shoe and action recognition method, device and storage medium thereof |
| CN117606473A (en) * | 2024-01-24 | 2024-02-27 | 电子科技大学 | Pedestrian autonomous navigation method for inhibiting accumulation of altitude and course angle errors |
| CN117606473B (en) * | 2024-01-24 | 2024-05-10 | 电子科技大学 | Pedestrian autonomous navigation method for inhibiting accumulation of altitude and course angle errors |
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Application publication date: 20180327 |