CN108318033A - Pedestrian navigation method and system, electronic equipment and storage medium - Google Patents
Pedestrian navigation method and system, electronic equipment and storage medium Download PDFInfo
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- CN108318033A CN108318033A CN201711453962.2A CN201711453962A CN108318033A CN 108318033 A CN108318033 A CN 108318033A CN 201711453962 A CN201711453962 A CN 201711453962A CN 108318033 A CN108318033 A CN 108318033A
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- paces
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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
- G01C21/20—Instruments for performing navigational calculations
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
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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
- G01C21/165—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
Abstract
The present invention relates to pedestrian navigation technical fields, and in particular to a kind of pedestrian navigation method and system, electronic equipment and storage medium.The pedestrian navigation method includes：The sensitive information of receiving sensor component；Paces information and azimuth information are obtained according to the sensitive information；First position information is calculated according to the paces information and the azimuth information；According to the error and estimation second position information of the first position information and the computer azimuth of the position locations GNSS and step-length.
Description
Technical field
The present invention relates to pedestrian navigation technical fields, and in particular to a kind of pedestrian navigation method and system, electronic equipment and
Storage medium.
Background technology
Global Navigation Satellite System (GNSS) receiver is widely used in automobile first on the natural ground of consumer field leads
Boat.Recent years, due to the development and miniaturization of electronic equipment, GNSS receiver is already integrated into portable electronic device,
It potentially also allows pedestrian navigation that can be always on and is daily used.All the time, due to GNSS signal acquisition and position finding
When high power consumption, pedestrian navigation is somewhat unrealistic.In addition, due to signal blocks, dry indoors or in the paddy environment of city street
It disturbs or congestion, GNSS often fails or degradation.Recently, it is equipped with powerful MEMS (MEMS) sensor and height
The portable electronic device of fast processor can provide pedestrian navigation function.This method relies on MEMS sensor, such as acceleration
Meter, gyro sensor, Magnetic Sensor or sensor combinations, by continuously estimating the displacement with known location come tracking pedestrians.
So-called pedestrian navigation is exactly an example of this dead reckoning.
Invention content
The purpose of the present invention can be realized by technical measures below：
The present invention provides a kind of pedestrian navigation methods, are applied to electronic equipment, which includes：
The sensitive information of receiving sensor component, the sensor module include three axis accelerometer, three-axis gyroscope and
Triaxial magnetometer；
Paces information and azimuth information are obtained according to the sensitive information；
First position information is calculated according to the paces information and the azimuth information；
According to the error and the estimation second position of the first position information and the computer azimuth of the position locations GNSS and step-length
Information.
Preferably, described that paces information is obtained according to the sensitive information, including：
Sensor signal is acquired from three axis accelerometer；
The value of three axis accelerometer is calculated to determine the peak value occurred in acceleration evaluation output waveform.
Preferably, described that azimuth information is obtained according to sensitive information, including：
The Eulerian angles of electronic equipment are calculated according to the sensitive information of three-axis gyroscope；
Eulerian angles are calculated according to the sensitive information of gained Eulerian angles, the sensitive information of triaxial magnetometer and three axis accelerometer
Error and pick up calibration factor；And
According to gained Eulerian angles error calculation azimuth information.
Preferably, described that first position information is calculated according to the paces information and the azimuth information, including：
According to pedestrian in last moment tk-1Location information (xk-1, yk-1), current time tkPaces information skThe orientation and
Information θkCalculate current time tkFirst position information (xk, yk), wherein xk=xk-1+skcosθk；yk=yk-1+sksinθk。
Preferably, the error that computer azimuth and step-length are calculated according to the first position information and the position locations GNSS
And estimation second position information, including：
GNSS signal is received to obtain the position locations GNSS at current time；
When the position locations GNSS meet quality requirements, by the first position information and current time GNSS position location
It is merged by kalman filter method.
Preferably, the quality requirements that meet include：Confidence factorMore than or equal to predetermined threshold value, wherein M is every
The height of satellite is more than or equal to first threshold and carrier noise density is more than the quantity of the satellite of second threshold, and N is every satellite
Height be more than or equal to first threshold satellite quantity.
The present invention also provides a kind of pedestrian navigation systems, are applied to electronic equipment, which includes：
Sensitive information acquisition module, is used for the sensitive information of receiving sensor component, and the sensor module includes three axis
Accelerometer, three-axis gyroscope and triaxial magnetometer；
Paces detection module, for obtaining paces information according to the sensitive information；
Orientation estimation block, for obtaining azimuth information according to the sensitive information；
GNSS signal receiving module, for receiving GNSS signal to obtain the position locations GNSS at current time；
Flight path estimator, for calculating first position information according to the paces information and the azimuth information；
Estimator is merged, for calculating computer azimuth and step-length according to the first position information and the position locations GNSS
Error and estimation second position information.
Preferably, which further includes：
Activity recognition module, the behavior state for identifying pedestrian according to the sensitive information of sensor module.
Preferably, the orientation estimation block is additionally operable to calculate the Europe of electronic equipment according to the sensitive information of three-axis gyroscope
Draw angle；Eulerian angles are calculated according to the sensitive information of gained Eulerian angles, the sensitive information of triaxial magnetometer and three axis accelerometer to miss
Difference and pick up calibration factor；And according to gained Eulerian angles error calculation azimuth information；
The pedestrian navigation system further includes：
Position quality module is configured with the NMEA message received and confirms GNSS location knot based on confidence factor
The quality of fruit；
Sensor calibration module is used for according to pick up calibration factor obtained by the orientation estimation block to sensor module
It is corrected.
The present invention also provides a kind of electronic equipment, which includes：
Sensor module, including three axis accelerometer, three-axis gyroscope and triaxial magnetometer；
Memory；And
Processor；
The processor couples the sensor module and the memory；The sensor module, the memory and
The processor realizes the step in pedestrian navigation method described in any one of the above embodiments at work.
The present invention also provides a kind of storage medium, have program stored therein in the storage medium, described program is when executed
Realize pedestrian navigation method described in any one of the above embodiments.
The pedestrian navigation method of the present invention first obtains paces information and azimuth information according to sensitive information, then according to paces
Information and azimuth information calculate first position information, further according to first position information and the computer azimuth of the position locations GNSS and step-length
Error and estimation second position information, reduce energy consumption, improve positioning accuracy.
Description of the drawings
Fig. 1 is the flow chart of the pedestrian navigation method of first embodiment of the invention.
Fig. 2 be the embodiment of the present invention pedestrian navigation method in paces overhaul flow chart.
Fig. 3 be the embodiment of the present invention pedestrian navigation method in orientation detection flow chart.
Fig. 4 be the embodiment of the present invention pedestrian navigation method in position quality inspection process figure.
Fig. 5 is the structure diagram of the pedestrian navigation system of first embodiment of the invention.
Fig. 6 is the structure diagram of the pedestrian navigation system of second embodiment of the invention.
Fig. 7 is the structure diagram of the pedestrian navigation system of third embodiment of the invention.
Fig. 8 is the structure diagram of the pedestrian navigation system of fourth embodiment of the invention.
Fig. 9 is the structure diagram of the electronic equipment of first embodiment of the invention.
Figure 10 is the structure diagram of the electronic equipment of second embodiment of the invention.
Figure 11 is the using renderings of the pedestrian navigation system of the embodiment of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with the accompanying drawings and specific implementation
Invention is further described in detail for example.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention,
It is not intended to limit the present invention.
In order to keep the narration of this disclosure more detailed with it is complete, below for embodiments of the present invention with it is specific real
It applies example and proposes illustrative description；But this not implements or uses the unique forms of the specific embodiment of the invention.Embodiment
In cover multiple specific embodiments feature and to construction with operate these specific embodiments method and step it is suitable with it
Sequence.However, can also reach identical or impartial function and sequence of steps using other specific embodiments.
In the present specification, when pedestrian varies to some terminal by manner of walking from a known starting point, if wanted
It realizes pedestrian's positioning, then at least should appreciate that the displacement of pedestrian's movement and mobile direction, can be retouched according to the two data
The movement locus for stating out pedestrian, to realize that pedestrian positions.
In the present specification, GPS (GNSS) can be used for obtaining visible satellite, if carried out enough
It is effective to measure, it may be determined that the position of detection device, locational uncertainty, speed, and obtain the load of every visible satellite
Wave is to noise density, azimuth, the elevation angle and relevant parameter.The device of the embodiment of the present invention is received complete by GNSS signal receiver
The signal of ball global position system (GNSS).
Such as " processing ", " calculating ", " operation ", " determination ", " foundation ", " analysis ", " inspection " etc. described in this specification
Term may refer to the following operation and/or processing of computer, computing platform, computing system or other electronic computing devices, this
A little operations and/or handle the represented data manipulation of the physics (electronics) of the register of computer and/or memory amount and/or
It is transformed to computer register and/or memory or can be stored with the other information for executing operation and/or processing with store instruction
The analogously represented other data of the physical quantity of medium.
Fig. 1 shows one embodiment of pedestrian navigation method of the present invention.In the present embodiment, which answers
For electronic equipment, which includes：
S1, the sensitive information of receiving sensor component, the sensor module include three axis accelerometer, three-axis gyroscope and
Triaxial magnetometer；
S2 obtains paces information and azimuth information according to the sensitive information；
S3 calculates first position information according to the paces information and the azimuth information；
S4, according to the error and second confidence of the first position information and the computer azimuth of the position locations GNSS and step-length
Breath.
It should be noted that in the present embodiment, which can be portable mobile terminal, for example, mobile phone；
Can also be the wearable electronics for being worn on pedestrian's foot or hand.Pedestrian carries the electronics and sets in the process of walking
Standby, which includes sensor module, and sensor module includes three axis accelerometer, three-axis gyroscope and three axis magnetic force
Instrument, sensor module are used to acquire every sensitive information in pedestrian's walking process.
In a preferred embodiment, in step s 2, it please refers to shown in Fig. 2, is walked according to the sensitive information
The process for cutting down information includes：
S2101 acquires sensor signal from three axis accelerometer.According to the physiologic characteristic of mankind's activity, work as determination
In when walking movable, the waveform of three axis accelerometer can be obtained from periodically variable shape.Therefore, periodicity and feature
Value be used for detect paces.；
S2102 calculates the value of three axis accelerometerWherein ax,ay,azIt is 3-axis acceleration
The output data of meter respectively in the x, y, and z directions, the process determine that acceleration evaluation exports by using wave digital lowpass filter
First peak value occurred in waveform.
According to presently disclosed one side, some small shakes are will produce when pedestrian's hand-hold electronic equipments are walked, than
As pedestrian aperiodically shakes equipment when on foot.In this case, the output waveform of the value of three axis accelerometer will appear
False peaks, therefore can detect false paces.In this instance, when carrying out paces detection, which, which further includes judgement, is
The no process for meeting testing conditions, first according to the value of three axis accelerometerDetermine first peak
Value；Then, judge whether the target peak occurred immediately following first peak value meets testing conditions；When meeting testing conditions, really
The peak value that sets the goal is second peak value；Otherwise, continue to detect.In first example, meeting testing conditions includes：Adjacent two
The time interval of a peak value (the first peak value and target peak) is more than first time threshold Tth.In most applications, TthIt is optional
Select a fixed design value.But variable duration T can be used in different realizationsthOr it is different TthValue executes simultaneously
Row processing.Especially suitable in the lower realization of complexity in former scene, and This latter option then can be used for needing it is higher
In the application of Performance And Reliability.In second example, meeting testing conditions includes：Two neighboring peak value (the first peak value with
Target peak) numerical value be more than first threshold Ath.In most applications, AthIt can be selected as fixed design value, or
For different AthValue executes parallel processing.When meeting testing conditions, which includes to determine in acceleration evaluation output waveform
Second peak value occurred, can just detect paces；Otherwise, which will repeat the above process.
In a preferred embodiment, in step s 2, azimuth information is obtained according to sensitive information, including：
S2201 calculates the Eulerian angles of electronic equipment according to the sensitive information of three-axis gyroscope；
S2202 is calculated according to the sensitive information of gained Eulerian angles, the sensitive information of triaxial magnetometer and three axis accelerometer
Euler's angle error and pick up calibration factor；And
S2203, according to gained Eulerian angles error calculation azimuth information.
Specifically, flow shows the preferred embodiment that orientation is estimated in the present embodiment step S2 in Fig. 3.Side
The calculating process of position information includes to acquire sensor letter from three-axis gyroscope, triaxial magnetometer and three axis accelerometer respectively
Number, determine that the Eulerian angles of electronic equipment (roll, bow according to attitude kinematics equations by using the output valve of three-axis gyroscope
Face upward and yaw), wherein attitude kinematics equations areQ(t0)=Q0, wherein Q=q0+q1i+q2j+q3K is four
First number, t0It is the initial time of pedestrian movement, Q0It is initial quaternary number, ω=0+ ω1i+ω2j+ω3K is in electronic equipment coordinate
Angular speed quaternary number,Indicate that quaternary number multiplication, i, j, k are mutually orthogonal unit vector.Wherein, Eulerian angles represent pedestrian
Attitude data (pitch angle, roll angle, yaw angle).
In this example, the process also include by using determined according to Kalman filter Eulerian angles, triaxial magnetometer
Value and 3-axis acceleration evaluation estimate Euler's angle error and pick up calibration factor.Pick up calibration factor includes accelerometer
With the error of gyroscope.In Kalman filter, error state vector definition isWherein ρ
It is Euler's angle error, Δ xgIt is three-axis gyroscope error, Δ xaIt is three axis accelerometer error.Vector ρ=[∈N,∈E,∈D]T
Including relative to the small angle rotation that navigational coordinate system defines, for rotating navigational coordinate system and calculated navigational coordinate system pair
Together.In ρ components, ∈NAnd ∈ERefer respectively to north orientation heeling error and east orientation heeling error, ∈DIt refer to yaw error.Three axis tops
Spiral shell instrument error is the deviation modeled by single order markoff process, i.e.,Wherein Fg=-λgI and ωgIt is high
This white-noise process, power spectrum density areThree axis accelerometer error is the deviation of single order markoff process modeling,
I.e.Wherein Fa=-λaI and ωaIt is white Gaussian noise process, power spectrum density isIn this example
In, which further includes by Euler's angle error feed-in attitude kinematics equations, to determine the azimuth information of electronic equipment.
Specifically, in step s3, according to pedestrian in last moment tk-1Location information (xk-1, yk-1), current time tk
Paces information skWith azimuth information θkCalculate current time tkFirst position information (xk, yk), wherein xk=xk-1+skcos
θk；yk=yk-1+sksinθk。
In a preferred embodiment, step S4 is specifically included：
S401 receives GNSS signal to obtain the position locations GNSS at current time；
S402, when the position locations GNSS meet quality requirements, by first position information and current time GNSS sprocket bit
Set the error and estimation second position information merged by kalman filter method with computer azimuth and step-length.
In a preferred embodiment, it please refers to shown in Fig. 4.Specifically, in pedestrian navigation, estimation pedestrian direction is more
Add difficulty.Difficulty is that electronic equipment direction can not be aligned between direction of travel.At any time, can GNSS receiver from
One or more satellite constellations solve the problems, such as this when receiving signal.The process includes to be received from one or more satellite constellations
GNSS signal, it is determined whether meet quality requirements.In one example, when GNSS location result can pass through confidence factor inspection
When, that is, meet quality requirements.Confidence factor is defined asWherein M is the height and carrier noise density difference of every satellite
More than the satellite number of some threshold value, N is that the height of each satellite is more than the satellite number of some threshold value.In one implementation,
Height threshold is chosen as a fixed design value (such as 20 degree).In another implementation, the threshold value of carrier noise density can be with
It is selected as a fixed design value (such as 28dBHz).When meeting quality requirements, which includes by the position locations GNSS result
It is fed to Kalman filter with first position result.Kalman filter is used for according to the position locations GNSS result and first
The combination for setting result determines the displacement between orientation and the error and estimation and known location of step-length.Error model is defined as
Δ p=[Δ x, Δ y, Δ θ, Δ s], wherein Δ x are the site errors in x coordinate direction, and Δ y is in the position in y-coordinate direction
Error, Δ θ are direction of advance errors, and Δ s is step error.Determining direction of advance error can feed-in step S2 azimuth information
Calculating process is for calibrating.Determining step error can feed-in step S2 paces information calculating process for calibrating.
Above-mentioned pedestrian navigation method needs to be used together in conjunction with the portable electronic equipment of pedestrian, and electronic equipment is just
Formula electronic equipment is taken, which is mounted with sensor module, which can be a smart phone, meter on knee
Calculation machine, desktop computer, wearable device or other types of equipment.
Fig. 5 illustrates one embodiment of pedestrian navigation system of the present invention, should for realizing above-mentioned pedestrian navigation method
Pedestrian navigation system is applied to electronic equipment, which includes：Sensitive information acquisition module 10, paces detection module
20, orientation estimation block 30, GNSS signal receiving module 40, flight path estimator 50 and fusion estimator 60, wherein sensitive information
Acquisition module 10 is used for the sensitive information of receiving sensor component；Paces detection module 20 is used to be obtained according to the sensitive information
Paces information；Orientation estimation block 30 is used to obtain azimuth information according to the sensitive information；GNSS signal receiving module 40 is used
In reception GNSS signal to obtain the position locations GNSS at current time；Flight path estimator 50 be used for according to the paces information and
The azimuth information calculates first position information；Estimator 60 is merged to be used for according to the first position information and GNSS positioning rails
The error and estimation second position information of mark computer azimuth and step-length.
Specifically, the paces detection module 20 of the pedestrian navigation system of the present embodiment, for according to three axis accelerometer
The walking paces of sensitive information detection pedestrian, which illustrate, please refers to embodiment of the method, herein without repeating one by one.
Specifically, in a preferred embodiment, paces detection module 20, orientation estimation block 30, flight path estimator
50 form pedestrian navigation engine with fusion estimator 60；GNSS signal receiving module 40, also known as GNSS receiver, it includes penetrate
Frequently the part (RF) (not shown) is for acquiring GNSS signal, central processing unit (CPU) and nonvolatile memory.CPU can be with
It is but not limited to microprocessor, field programmable gate array (FPGA), using specific integrated circuit (ASIC), etc..It is non-easy
The property lost memory is used to store data or the instruction of CPU execution.For example, nonvolatile memory can storage location, speed, when
Between (PVT) Processing Algorithm.When GNSS receiver receives signal from one or more satellite constellations, PVT Processing Algorithms are for true
Determine the Position, Velocity and Time of user equipment, signal is downconverted at RF sections and is modulated in Base-Band Processing.GNSS location
As a result it is formatted into NMEA message, and is encapsulated as after message through interface (such as socket User Datagram Protocol UDP, string
Mouth interprocedual communication protocol IPC etc.) it is sent to pedestrian navigation engine.Further, each sensor may be connected at sensor
Reason device communicates.Configuration one or more sensors processor is by using being consumed less than main application processor
Power, from one or more sensors acquisition and store sensor data, sampling rate is about 50Hz or other frequencies；Place
The data received from one or more sensors are managed to obtain feature vector (as observed) mankind's activity for identification；According to spy
The part of sign is only or mobile to determine a binary condition, wherein status information Wei Static.In addition, the sensing data of storage is by lattice
Formula turns to message, and is sent to pedestrian navigation engine by interfaces such as socket UDP, serial ports IPS.Note that pedestrian navigation engine
It can realize in several ways, such as software, hardware or a combination of both.According to presently disclosed one side, pedestrian navigation draws
It holds up and is realized in a manner of software instruction, executed by the processor in electronic equipment.For example, memory embedded in GNSS receiver
The instruction of pedestrian navigation system can be stored, CPU (i.e. processor) can perform these instructions.
Pedestrian navigation system shown in fig. 5 can be set to sensor module where electronic equipment in, can also be set to
In other different electronic equipments of electronic equipment where sensor module, Fig. 6 shows the one of pedestrian navigation system of the present invention
A embodiment is respectively arranged on the situation of different electronic equipments suitable for navigation system from sensor module, and the present embodiment is in Fig. 5
On the basis of illustrated embodiment, which further comprises：System communication module 71, for via a communication network and electricity
The sensor module of sub- equipment is communicated, and system communication module 71 is connect with sensitive information acquisition module 10；Specifically, system
The communication network and/or communication unit of communication module 71 be according to 802.11 standards of existing IEEE (IEEE 802.11-2012,
IEEE Standard for Information technology—Telecommunications and information
exchange between systems Local and metropolitan area networks—Specific
requirements Part 11:Wireless LAN Medium Access Control(MAC)and Physical
Layer (PHY) Specifications, on March 29th, 2012；IEEE 802.11 task groups ac (TGac) (" IEEE802.11-
09/0308rl2-TGac Channel Model Addendum Document”)；802.11 task groups ad (TGad) of IEEE
(IEEE 802.11ad-2012,IEEE Standard for Information Technology-
Telecommunications and Information Exchange Between Systems-Local and
Metropolitan Area Networks-Specific Requirements-Part 11:Wireless LAN Medium
Access Control(MAC)and Physical Layer(PHY)Specifications-Amendment3:
Enhancements for Very High Throughput in the 60GHz Band, on December 28th, 2012)) and/or
Its future version and/or derivative and the equipment and/or network that operate, and/or according to existing and/or Wireless Fidelity (WiFi) alliance
(WFA) point-to-point (P2P) specification (WiFi P2P technical specification, version1.2,2012) and/or its
Future version and/or derivative and the equipment and/or network that operate, and/or according to existing cellular specification and/or agreement (such as 3rd
Generation Partnership Project (3GPP), 3GPP Long Term Evolution (LTE)) and/or it is not
Come version and/or derivative and the equipment and/or network that operate, and/or according to existing WirelessFIDTM specifications and/or its not
Come version and/or derivative and operate equipment and/or network, as above-mentioned network a part unit and/or equipment etc..
Further, Fig. 7 illustrates one embodiment of pedestrian navigation system of the present invention, the present embodiment reality shown in Fig. 5
On the basis of applying example, which further comprises：Activity recognition module 72, wherein Activity recognition module 72 is used for basis
The behavior state of the sensitive information identification pedestrian of sensor module, the behavior state includes walking states, running state, static
State or riding condition.Specifically, Activity recognition module 72 can with about 50Hz or the sampling rate of other frequencies, access/
Handle the sensitive information of multiple sensors in sensor module.The original signal of sensor module can be pre-processed, to obtain
It must be used for the feature vector (observing) of human behavior identification.Implement in example at one, this feature can be the energy of signal.
In another embodiment, when this feature can be limited on window signal amplitude mean value and variance.Sensor sensitive information
Partial Feature (for example, energy or variance of signal) may be used, to determine user whether in movement.When being determined as moving
When state, human behavior identification module can processing feature vector, with determine human behavior (for example, walking, running, cycling or its
He activity) various aspects.Human behavior identification module is configured to analysis feature vector, associated with human behavior with determination
One or more states.Implement in example at one, based on can be used to identify human behavior using probability graph model, when analyzing
Feature vector in domain, so that it is determined that one or more state associated with human behavior.In another implementation example, base
It can be used to identify human behavior in Fast Fourier Transform (FFT) (FFT) model, to analyze the feature vector in frequency domain, so that it is determined that with
The associated one or more states of human behavior.
Further, Fig. 8 illustrates one embodiment of pedestrian navigation system of the present invention, the present embodiment reality shown in Fig. 5
On the basis of applying example, orientation estimation block 30 further comprises：First computing unit, the second computing unit and third calculate single
Member, wherein the first computing unit is used to calculate the Eulerian angles of electronic equipment according to the sensitive information of three-axis gyroscope；Second calculates
Unit is used to be believed according to the sensing of Eulerian angles, the sensitive information of triaxial magnetometer and three axis accelerometer obtained by the first computing unit
Breath calculates Euler's angle error and pick up calibration factor；Third computing unit is used to be missed according to Eulerian angles obtained by the second computing unit
Poor computer azimuth information.The navigation system further comprises：Position quality module 73 and sensor calibration module 74, wherein pass
Sensor calibration module 74 is used for according to pick up calibration factor obtained by the second computing unit in orientation estimation block 30 to sensor
Component is corrected.
It should be noted that in the present embodiment, sensor calibration module 74 is configured with the sensor number of reception
Come calibration sensor deviation, including calibrating accolerometer, gyroscope, magnetometer, barometer etc. according to according to error model.Example
Such as, calibration may include the dynamic calibration to magnetometer data.In another example, calibration includes the static state to gyro data
Calibration.Further, position quality module 73 is configured with the NMEA message received and is confirmed based on confidence factor
The quality of GNSS location result；Orientation estimation block 30 is configured to determine that orientation, accelerometer and the gyroscope of user equipment
Deviation and magnetic disturbance.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment weight
Point explanation is all difference from other examples, and the same or similar parts between the embodiments can be referred to each other.
For system class embodiment, since it is basically similar to the method embodiment, so description is fairly simple, related place ginseng
See the part explanation of embodiment of the method.
Can be one or more sensors (acceleration it should be noted that in the pedestrian navigation system of the present embodiment
Meter, gyroscope etc.) configuration signal processor, the signal for handling at least one sensor, for example, the physics of sensor is believed
It number is filtered, enhanced processing generates digital signal；The quantity of signal processor is either one or more, for example,
Signal processor is arranged in a one-to-one correspondence with sensor, in addition, signal processor can also be sensor module a part or
For sensor special processor.
Fig. 9 illustrates one embodiment of electronic equipment of the present invention, which includes：Sensor module 100, pedestrian
Navigation system, application processor 81, cartographic information module 82 and display module 83, the pedestrian navigation system of the present embodiment Fig. 5,
Technical solution merging is carried out on the basis of pedestrian navigation system embodiment shown in Fig. 7 and Fig. 8, wherein sensor module 100 includes
Three axis accelerometer, three-axis gyroscope and triaxial magnetometer；Application processor 81 is used to trigger application affairs according to current location；
Cartographic information module 82 is for storing map datum；Display unit 83 is for showing the application affairs.
Figure 10 illustrates one embodiment of electronic equipment of the present invention, which includes：Sensor module 100 is deposited
Reservoir 200 and processor 300, wherein sensor module 100 includes three axis accelerometer, three-axis gyroscope and triaxial magnetometer；
Processor 300 couples sensor module 100 and memory 200；Sensor module 100, memory 200 and processor 300 are in work
As when realize step in pedestrian navigation method described in any one of the above embodiments.
Specifically, there is instruction in memory 200, it includes following each which executes when being executed on processor 300
Process：
The sensitive information of receiving sensor component, the sensor module include three axis accelerometer, three-axis gyroscope and three
Axis magnetometer；
Paces information and azimuth information are obtained according to the sensitive information；
First position information is calculated according to the paces information and the azimuth information；
According to the error and estimation second confidence of the first position information and the computer azimuth of the position locations GNSS and step-length
Breath.
Pedestrian navigation method is realized in the instruction when being executed on processor 300, particular content referring to above method embodiment,
Herein without repeating one by one.
Processor in the electronic equipment of the present embodiment is central processing unit, and for handling various instructions, processor can be with
It is central processing unit (CPU), digital signal processor (DSP), one or more processors kernel, single core processor, double-core
Processor, multi-core processor, microprocessor, host-processor, controller, multiple processors or controller, chip, microchip,
One or more circuits, circuit, logic unit, integrated circuit (IC), application-specific integrated circuit (ASIC) or it is any other suitable multi-purpose or
Application specific processor or controller.
Selected example can preferably show the result of disclosed pedestrian navigation process.Figure in Figure 11 is according to current hair
Bright one side is shown estimates run trace when pedestrian holds the electronic equipment of the present embodiment.It should be noted that boat
The run trace of mark estimator is formed on the electronic map according to multiple first position information, specifically, by multiple first positions
Presentation of information connects to form run trace line on electronic map and by multiple first position information；Merge the walking rail of estimator
Mark is formed on the electronic map according to multiple second position information, specifically, by multiple second position presentation of information in electronically
It connects to form run trace line on figure and by multiple second position information；The run trace of GNSS signal receiving module is according to multiple
The position locations GNSS are formed on the electronic map, specifically, multiple position locations GNSS are shown on electronic map and will be more
A position locations GNSS connect to form run trace line.In Figure 11 examples, circular trace is shown by GNSS signal receiving module
Determining run trace, triangular trajectory show the run trace determined by flight path estimator.In comparison, rectangular rule is aobvious
Show the run trace determined by fusion estimator (i.e. the fusion of the position locations GNSS result and flight path result).As can be seen that making
After fusion estimator, even if GNSS signal receiving module the case where there are degradations, still it can be significantly improved.
For example, can see this improvement in the lower left corner of run trace, using can preferably follow practical rail after fusion estimator
Mark (solid line).It, can be with using estimator is merged it should be noted that when GNSS signal receiving module (GNSS receiver) performance is good enough
See and significantly improving.
The embodiment of the present invention additionally provides a kind of storage medium, has program stored therein in the storage medium, which is being held
Pedestrian navigation method described in any one of the above embodiments is realized when row.
It should be noted that storage medium can be read-only memory, can store static information and instruction in the present embodiment
Static storage device, random access memory or the dynamic memory that information and instruction can be stored, can also be electricity can
Erasable programmable read-only memory, CD-ROM or other optical disc storages, optical disc storage, magnetic disk storage medium or other magnetic are deposited
Store up equipment.
It should be noted that the program in the present embodiment can be write by any combinations of one or more of programming languages,
Programming language including object-oriented further includes traditional process such as JAVA, Smalltalk, C++ or similar programming language
Programming language, such as " C " programming language or similar programming language.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (12)
1. a kind of pedestrian navigation method, which is characterized in that be applied to electronic equipment, which includes：
The sensitive information of receiving sensor component, the sensor module include three axis accelerometer, three-axis gyroscope and three axis
Magnetometer；
Paces information and azimuth information are obtained according to the sensitive information；
First position information is calculated according to the paces information and the azimuth information；
According to the error and estimation second position information of the first position information and the position locations GNSS computer azimuth step-length.
2. pedestrian navigation method according to claim 1, which is characterized in that described to obtain paces according to the sensitive information
Information, including：
Sensor signal is acquired from three axis accelerometer；
The value of three axis accelerometer is calculated to determine the peak value occurred in acceleration evaluation output waveform.
3. pedestrian navigation method according to claim 1, which is characterized in that described to obtain orientation letter according to sensitive information
Breath, including：
The Eulerian angles of electronic equipment are calculated according to the sensitive information of three-axis gyroscope；
Euler's angle error is calculated according to the sensitive information of gained Eulerian angles, the sensitive information of triaxial magnetometer and three axis accelerometer
With pick up calibration factor；And
According to gained Eulerian angles error calculation azimuth information.
4. pedestrian navigation method according to claim 1, which is characterized in that described according to the paces information and the side
Position information calculates first position information, including：
According to pedestrian in last moment tk-1Location information (xk-1, yk-1), current time tkPaces information skAnd azimuth information
θkCalculate current time tkFirst position information (xk, yk), wherein xk=xk-1+skcosθk；yk=yk-1+sksinθk。
5. pedestrian navigation method according to claim 1, which is characterized in that it is described according to the first position information and
The position locations GNSS calculate second position information, including：
GNSS signal is received to obtain the position locations GNSS at current time；
When the position locations GNSS meet quality requirements, the first position information and current time GNSS position location are passed through
Kalman filter method is merged to obtain second position information.
6. pedestrian navigation method according to claim 5, which is characterized in that the quality requirements that meet include：Confidence because
NumberMore than or equal to predetermined threshold value, wherein M is that the height of every satellite is more than or equal to first threshold and carrier noise density is big
In the quantity of the satellite of second threshold, N is the quantity that the height of every satellite is more than or equal to the satellite of first threshold.
7. pedestrian navigation method according to claim 5, which is characterized in that the pedestrian navigation method further includes walking as follows
Suddenly：
The first position information and current time GNSS position location are merged by kalman filter method to calculate
Paces error and azimuthal error.
8. a kind of pedestrian navigation system, which is characterized in that be applied to electronic equipment, which includes：
Sensitive information acquisition module, is used for the sensitive information of receiving sensor component, and the sensor module accelerates including three axis
Degree meter, three-axis gyroscope and triaxial magnetometer；
Paces detection module, for obtaining paces information according to the sensitive information；
Orientation estimation block, for obtaining azimuth information according to the sensitive information；
GNSS signal receiving module, for receiving GNSS signal to obtain the position locations GNSS at current time；
Flight path estimator, for calculating first position information according to the paces information and the azimuth information；
Estimator is merged, for the error and estimation according to the first position information and the position locations GNSS computer azimuth step-length
Second position information.
9. pedestrian navigation system according to claim 8, which is characterized in that the pedestrian navigation system further includes：
Activity recognition module, the behavior state for identifying pedestrian according to the sensitive information of sensor module.
10. pedestrian navigation system according to claim 8, which is characterized in that the orientation estimation block is additionally operable to basis
The sensitive information of three-axis gyroscope calculates the Eulerian angles of electronic equipment；According to gained Eulerian angles, the sensitive information of triaxial magnetometer
Euler's angle error and pick up calibration factor are calculated with the sensitive information of three axis accelerometer；And according to gained Euler's angle error
Computer azimuth information；
The pedestrian navigation system further includes：
Position quality module is configured with the NMEA message received and confirms GNSS location result based on confidence factor
Quality；
Sensor calibration module, for being carried out to sensor module according to pick up calibration factor obtained by the orientation estimation block
Correction.
11. a kind of electronic equipment, which is characterized in that the electronic equipment includes：
Sensor module, including three axis accelerometer, three-axis gyroscope and triaxial magnetometer；
Memory；And
Processor；
The processor couples the sensor module and the memory；The sensor module, the memory and described
Processor realizes the step in claim 1 to 7 any one of them pedestrian navigation method at work.
12. a kind of storage medium, which is characterized in that have program stored therein in the storage medium, described program is realized when executed
Pedestrian navigation method described in any one of claim 1 to 7.
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