CN108426573B - Pedestrian gait detection method of terminal equipment and terminal equipment - Google Patents
Pedestrian gait detection method of terminal equipment and terminal equipment Download PDFInfo
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Abstract
The invention provides a pedestrian gait detection method of a terminal device and the terminal device, the method comprises the following steps: acquiring an attitude angle of the terminal equipment relative to a geodetic coordinate system; acquiring a carrying mode of the terminal equipment; if the carrying mode of the terminal equipment is the hand throwing mode, the gait event of the pedestrian is detected through the attitude angle, the gait event of the pedestrian is detected through the change of the attitude angle, the error of the gait detection algorithm under the hand throwing condition can be ensured to be small, the gait detection algorithm can be normally used, the operation process is simple, and the implementation is easy.
Description
Technical Field
The invention relates to the technical field of pedestrian positioning, in particular to a pedestrian gait detection method of a terminal device and the terminal device.
Background
With the development of positioning technology, the demand of Location Based Services (LBS) is increasing. In outdoor environment, the wide application of Global Navigation Satellite System (GNSS) satisfies the Navigation and positioning requirements of people outdoors. However, in an indoor environment or an environment with building shelters, the satellite signals are sheltered to generate attenuation and multipath effects, which may cause the precision of satellite positioning to deteriorate or even be unusable. Therefore, other positioning technologies are needed to achieve accurate positioning and navigation indoors. The increasing computing and sensor capabilities of existing smart phones and other mobile terminals promote the application and popularization of emerging technologies in the field of personal LBS.
Among the many positioning technologies, pedestrian Dead Reckoning (PDR) is a commonly used indoor positioning technology. Compared with other indoor positioning methods, the method has the advantages that the cost is low, additional base station facilities do not need to be arranged, and independent positioning and navigation can be realized only by acquiring human motion information and direction information by using the self-contained sensor of the mobile terminal.
The method is mainly characterized in that the walking direction of the pedestrian is calculated by collecting information such as acceleration, angular velocity and magnetic field intensity through a self-contained sensor, the walking direction and step length of the pedestrian are calculated by combining gait detection and step length estimation, and the current position of the pedestrian is calculated from the previous position. Among them, gait detection is the core of PDR technology, as gait events are the key to driving pedestrian location updates and calculating step sizes. Gait detection inaccuracy can cause errors in step size estimation and failure of PDR to update position.
The common gait detection method is to process acceleration information acquired by a mobile terminal, for example, sliding windows with different lengths are used for processing and detecting the amplitude of the acceleration information, and the gait detection is performed by utilizing the regularity of acceleration generated by pedestrian walking. In general, the method can achieve better gait detection effect. However, the method requires the user to keep the mobile terminal and the user relatively stationary, and if the user continuously changes the position of the terminal in the positioning process (for example, holds the arm in a hand and swings), the acceleration signal causing the state change will affect the judgment of the gait detection algorithm, so that a large error is generated, and the condition of false detection or missing detection occurs.
Disclosure of Invention
In view of this, embodiments of the present invention provide a pedestrian gait detection method for a terminal device and the terminal device, which solve the problem that the gait detection method has a large error or even cannot be used normally when the position of the terminal device is changed continuously.
In order to solve the above problem, a first aspect of an embodiment of the present invention provides a pedestrian gait detection method of a terminal device, including the following steps:
acquiring an attitude angle of the terminal equipment relative to a geodetic coordinate system;
acquiring a carrying mode of the terminal equipment;
and if the carrying mode of the terminal equipment is the hand-shaking mode, detecting the gait event of the pedestrian through the attitude angle.
Optionally, acquiring a pose angle of the terminal device with respect to a geodetic coordinate system includes:
acquiring acceleration, angular velocity and earth magnetic field intensity in a preset coordinate system corresponding to the terminal equipment;
and calculating the attitude angle of the terminal equipment relative to the geodetic coordinate system according to the acceleration, the angular velocity and the intensity of the magnetic field of the earth.
Optionally, the acquiring acceleration, angular velocity, and magnetic field strength of the earth in a preset coordinate system corresponding to the terminal device includes:
acquiring acceleration through an accelerometer of the terminal equipment, acquiring angular velocity through a gyroscope of the terminal equipment, and acquiring the intensity of the earth magnetic field through a magnetometer of the terminal equipment;
if the sampling frequency of the acceleration, the angular velocity and the earth magnetic field intensity is inconsistent, spline interpolation is carried out on the acceleration, the angular velocity and the earth magnetic field intensity for a preset number of times;
the acceleration, angular velocity and earth magnetic field strength are low pass filtered.
Optionally, calculating an attitude angle of the terminal device with respect to a geodetic coordinate system according to the acceleration, the angular velocity and the strength of the earth magnetic field, comprising:
if the intensity of the earth magnetic field is smaller than a first preset value, the acceleration, the angular speed and the intensity of the earth magnetic field are brought into an attitude and heading reference system;
if the intensity of the earth magnetic field is greater than or equal to a first preset value, the acceleration and the angular speed are brought into an attitude and heading reference system;
and outputting the attitude angle from the attitude heading reference system.
Optionally, the obtaining of the carrying mode of the terminal device includes:
acquiring acceleration and speed information of the terminal equipment within first preset time;
acquiring a gravity component and a linear acceleration component from the acceleration information;
selecting a characteristic value from a gravity component, a linear acceleration component and a speed of the acceleration;
the method comprises the steps of obtaining sensor information of the terminal equipment, and determining the type of a carrying mode according to a classification rule, wherein the classification rule is determined according to the numerical distribution characteristics of characteristic values under different carrying modes.
Optionally, detecting a gait event of a pedestrian by attitude angle comprises:
low-pass filtering the obtained attitude angles, and extracting pitch angles in the plurality of attitude angles stored in a second preset time;
and if the extreme values exist in the plurality of extracted pitch angles, the minimum values of the plurality of pitch angles are smaller than a second preset value and/or the maximum values of the plurality of pitch angles are larger than a third preset value, and the gait event is judged.
A second aspect of the embodiments of the present invention provides a terminal device, which is suitable for the pedestrian gait detection method, and includes:
an attitude angle acquisition module: the attitude angle of the terminal equipment relative to a geodetic coordinate system is acquired;
the carrying mode acquisition module: the method comprises the steps of obtaining a carrying mode of the terminal equipment;
a detection module: and if the carrying mode of the terminal equipment is the hand-shaking mode, detecting the gait event of the pedestrian through the attitude angle.
Optionally, the attitude angle acquisition module includes:
an information acquisition unit: the device comprises a terminal device, a control device and a control system, wherein the control device is used for acquiring acceleration, angular velocity and earth magnetic field intensity in a preset coordinate system corresponding to the terminal device;
an attitude angle calculation unit: the attitude angle of the terminal equipment relative to a geodetic coordinate system is calculated according to the acceleration, the angular velocity and the intensity of the magnetic field of the earth;
wherein, the information acquisition unit includes:
a first acquisition subunit: the system comprises an accelerometer, a gyroscope, a terminal device and a controller, wherein the accelerometer is used for acquiring acceleration through the terminal device, acquiring angular velocity through the gyroscope of the terminal device, and acquiring the intensity of the earth magnetic field through the magnetometer of the terminal device;
a first processing subunit: the method comprises the steps of performing spline interpolation on acceleration, angular velocity and the intensity of the earth magnetic field for a preset number of times if the sampling frequencies of the acceleration, the angular velocity and the intensity of the earth magnetic field are inconsistent;
a second processing subunit: the low-pass filtering device is used for carrying out low-pass filtering on the acceleration, the angular velocity and the intensity of the earth magnetic field;
the attitude angle calculation unit includes:
a first calculation subunit: the system is used for bringing the acceleration, the angular speed and the intensity of the earth magnetic field into an attitude and heading reference system if the intensity of the earth magnetic field is smaller than a first preset value;
a second calculation subunit: the system is used for bringing the acceleration and the angular speed into an attitude and heading reference system if the intensity of the magnetic field of the earth is greater than or equal to a first preset value;
an output subunit: for outputting the attitude angle from the attitude heading reference system.
Optionally, the portable mode acquiring module includes:
reference unit: the system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring acceleration and speed information of terminal equipment within first preset time;
an acquisition unit: the acceleration sensor is used for acquiring a gravity component and a linear acceleration component from acceleration information;
an assignment unit: the system is used for selecting a characteristic value from a gravity component, a linear acceleration component and a speed of the acceleration;
a determination unit: the method is used for acquiring sensor information of the terminal equipment and determining the carrying mode according to the classification rule, wherein the classification rule is determined according to the numerical distribution characteristics of the characteristic values under different carrying modes.
Optionally, the detection module comprises:
an extraction unit: low-pass filtering the obtained attitude angles, and extracting a pitch angle in a plurality of attitude angles stored in a second preset time;
a determination unit: and if the extracted plurality of pitch angles have extreme values, the minimum values of the plurality of pitch angles are smaller than a second preset value and/or the maximum values of the plurality of pitch angles are larger than a third preset value, and the gait event is judged.
According to the embodiment of the invention, by acquiring the attitude angle of the terminal equipment relative to the geodetic coordinate system and the carrying mode of the terminal equipment, if the carrying mode of the terminal equipment is the hand throwing mode, the gait event of the pedestrian is detected through the attitude angle, so that the gait detection algorithm can be ensured to have small error under the hand throwing condition, can be normally used, and is simple in operation process and easy to realize.
Drawings
FIG. 1 is a flow chart of a method of pedestrian gait detection according to an embodiment of the invention;
FIG. 2 is another flow chart of a pedestrian gait detection method according to an embodiment of the invention;
FIG. 3 is another flow chart of a method of pedestrian gait detection according to an embodiment of the invention;
FIG. 4 is another flow chart of a pedestrian gait detection method according to an embodiment of the invention;
FIG. 5 is another flow chart of a pedestrian gait detection method according to an embodiment of the invention;
fig. 6 is a data diagram of the mean absolute value of the gravitational acceleration of the X axis in the preset coordinate system in different carrying manners according to the embodiment of the present invention, in which the abscissa represents the different carrying manners, and the absolute value is from 0 to 12: the method comprises the following steps of (1) standing, short message mode walking, telephone mode walking, pocket mode walking, arm-swinging mode walking, short message mode running, telephone mode running, pocket mode running, arm-swinging mode running, going upstairs, going downstairs, going upstairs and going downstairs;
FIG. 7 is a data diagram of the mean absolute value of the gravitational acceleration of the Y axis in the preset coordinate system in different carrying modes according to the embodiment of the present invention;
FIG. 8 is a data diagram of the mean absolute value of the acceleration of gravity of the Z axis in the preset coordinate system in different carrying modes according to an embodiment of the present invention;
FIG. 9 is a data diagram of the mean absolute value of linear acceleration in different carrying modes according to an embodiment of the present invention;
FIG. 10 is a data diagram of the mean absolute value of the angular velocity of the X-axis in the preset coordinate system in different carrying modes according to an embodiment of the present invention;
FIG. 11 is a data diagram of the mean absolute value of the angular velocity of the Y-axis in the preset coordinate system in different carrying manners according to an embodiment of the present invention;
FIG. 12 is a data diagram of the mean absolute value of the angular velocity of the Z axis in the preset coordinate system in different carrying modes according to an embodiment of the present invention;
FIG. 13 is a data diagram of the Z-axis linear acceleration variance in a preset coordinate system in different carrying manners according to an embodiment of the present invention;
FIG. 14 is another flow chart of a method of pedestrian gait detection in accordance with an embodiment of the invention;
fig. 15 is a pitch angle curve of the terminal device passing through a closed path close to a rectangle in the hands-free mode according to the embodiment of the present invention;
fig. 16 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
First embodiment
Referring to fig. 1, a flow chart of a pedestrian gait detection method of a terminal device is shown, which includes the following steps:
s101, acquiring an attitude angle of the terminal equipment relative to a geodetic coordinate system.
The Geodetic Coordinate System is a Coordinate System established by taking a reference ellipsoid as a datum plane in Geodetic surveying, and three Coordinate components of the Geodetic Coordinate System are Geodetic longitude, geodetic latitude and Geodetic height.
The attitude angle may include one or more of a roll angle (roll), a pitch angle (pitch), and a yaw angle (yaw) of the terminal device, wherein the pitch angle is an angle rotated around the Y-axis of the preset coordinate system.
And S102, acquiring the carrying mode of the terminal equipment.
The carrying mode of the terminal device includes a hands-free mode and other modes, and the other modes are modes except the hands-free mode.
The swing mode refers to that the terminal device swings, for example, the terminal device swings with the arm in hand, the relative position (for example, relative to the human body) of the terminal device changes periodically, and the attitude angle of the terminal device changes accordingly, for example, changes with the swing of the arm.
In this embodiment, the carrying mode of the terminal device may be implemented by a relevant algorithm of the pattern recognition, or may be determined based on other relatively obvious dynamic features, so that the determination mode of the carrying mode is not specifically limited.
And S103, detecting a pedestrian gait event through the attitude angle if the carrying mode of the terminal equipment is a hand shaking mode.
When the carrying mode of the terminal equipment is a hand shaking mode, the posture of the terminal equipment can generate periodic change, the ideal motion is similar to pendulum clock motion, and the change of the posture angle of the terminal equipment can be corresponding to the walking of actual physical motion by utilizing the periodic rule, so that the gait detection is realized.
In summary, in the embodiment, by acquiring the attitude angle of the terminal device relative to the geodetic coordinate system and the carrying mode of the terminal device, when the carrying mode is the hand shaking mode, the gait event of the pedestrian is detected through the attitude angle, so that it can be ensured that the error of the gait detection algorithm is small in the hand shaking condition, and the gait detection algorithm can be used normally.
Second embodiment
Referring to fig. 2, another flow chart of a pedestrian gait detection method of a terminal device is shown, which includes the following steps:
s201, acquiring acceleration, angular velocity and earth magnetic field intensity in a preset coordinate system corresponding to the terminal equipment;
in this embodiment, the acceleration, the angular velocity, and the earth magnetic field strength in a preset coordinate system may be obtained through an accelerometer, a gyroscope, and a magnetometer carried by the terminal device, where the preset coordinate system is a carrier coordinate system, that is, a coordinate system of the terminal device itself.
And S202, calculating the attitude angle of the terminal equipment relative to the earth coordinate system according to the acceleration, the angular velocity and the intensity of the earth magnetic field.
In this embodiment, the attitude angle of the terminal device relative to the geodetic coordinate system can be obtained according to the acceleration, the angular velocity and the intensity of the magnetic field of the earth by using the attitude heading reference system AHRS. The system includes a plurality of axial sensors capable of providing attitude information to the end device, for example, the attitude information including one or more of roll angle, pitch angle, and heading angle.
The attitude angle obtained by using the attitude heading reference system is an optimal solution of the current attitude angle solved through a gradient descent algorithm according to a quaternion differential equation, wherein the quaternion is a four-dimensional hypercomplex number formed by a real number and three imaginary numbers and can represent the rotation of the terminal equipment in space, namely the attitude of the terminal equipment in a geodetic coordinate system.
And S203, acquiring the carrying mode of the terminal equipment.
The carrying mode of the terminal equipment comprises a hand shaking mode and other modes, and the other modes are modes except the hand shaking mode and are collectively called.
The swing mode refers to that the terminal device swings, for example, the terminal device swings along with the arm of the carrier in the hand of the carrier, the relative position (for example, relative to the human body) of the terminal device changes periodically, and the attitude angle of the terminal device changes accordingly, for example, changes along with the swing of the arm.
In this embodiment, the carrying mode of the terminal device may be implemented by a relevant algorithm of the pattern recognition, or may be determined based on other obvious dynamic features, so that the determination mode of the carrying mode is not specifically limited.
And S204, detecting a gait event of the pedestrian through the attitude angle if the carrying mode of the terminal equipment is the hand shaking mode.
When the carrying mode of the terminal equipment is a hand shaking mode, the posture of the terminal equipment can generate periodic change, the ideal motion is similar to pendulum clock motion, and the change of the posture angle of the terminal equipment can be corresponding to the walking of actual physical motion by utilizing the periodic rule, so that the gait detection is realized.
In summary, in the embodiment, the attitude angle of the geodetic coordinate system is obtained by obtaining the acceleration, the angular velocity and the magnetic field strength of the earth of the terminal device, and the carrying mode of the terminal device is obtained, when the carrying mode is the hand-shaking mode, the gait event of the pedestrian is detected through the attitude angle, so that the gait detection algorithm can be ensured to have a small error under the hand-shaking condition, and can be normally used.
Third embodiment
Referring to fig. 3, another flow chart of a pedestrian gait detection method of a terminal device is shown, which includes the following steps:
s301, acquiring acceleration through an accelerometer of the terminal device, acquiring angular velocity through a gyroscope of the terminal device, and acquiring the strength of the earth magnetic field through a magnetometer of the terminal device.
The preset coordinate system refers to a carrier coordinate system, i.e. a coordinate system of the terminal device itself. Specifically, the terminal device (e.g., mobile terminal) may be controlled by software, for example, by turning on the software to acquire acceleration, angular velocity, and earth magnetic field strength, respectively, by an accelerometer, a gyroscope, and a magnetometer built in the terminal device.
The software can be software capable of detecting walking events of a user, when the mobile terminal is used, the mobile terminal can carry the arm to naturally swing in the walking process of the mobile terminal after the software is opened, and the software records acceleration, angular velocity and earth magnetic field intensity data.
Further, the acceleration, the angular velocity and the earth magnetic field strength of the axes corresponding to the axes X, Y and Z in the preset coordinate system are respectively obtained through an accelerometer, a gyroscope and a magnetometer in the terminal device, that is, the acceleration, the angular velocity and the earth magnetic field strength of the directions in which the axes X, Y and Z of the acceleration, the angular velocity and the earth magnetic field strength are located relative to the preset coordinate system are respectively obtained.
S302, judging whether the acceleration, the angular velocity and the sampling frequency of the earth magnetic field intensity are consistent, if not, entering a step S303; otherwise, the process proceeds directly to step S304.
S303, spline interpolation is carried out on the acceleration, the angular velocity and the earth magnetic field intensity for a preset time.
When the acceleration, the angular velocity and the earth magnetic field strength respectively calculate the sampling frequency, if the sampling frequency is inconsistent, spline interpolation for a predetermined number of times, such as cubic spline interpolation, is adopted for data with lower frequency so as to keep the data frequency of the sensor consistent, and after the processing of the step, the step S304 is carried out.
And S304, low-pass filtering the acceleration, the angular velocity and the earth magnetic field intensity.
And performing low-pass filtering on the acceleration, angular velocity and earth magnetic field intensity signals with consistent frequency or consistent frequency after processing, and filtering out high-frequency interference signals to obtain stable data for use.
The Low-pass filter (Low-pass filter) allows the Low-frequency signal to pass through normally, while the High-frequency signal exceeding a predetermined threshold is blocked and attenuated, which is also called High-cut filter (High-cut filter).
And S305, calculating the attitude angle of the terminal equipment relative to the earth coordinate system according to the acceleration, the angular velocity and the intensity of the earth magnetic field.
In this embodiment, the attitude angle of the terminal device relative to the geodetic coordinate system can be obtained according to the acceleration, the angular velocity and the intensity of the magnetic field of the earth by using the attitude heading reference system AHRS. The system comprises a plurality of axial sensors and can provide attitude information for the terminal equipment.
The attitude angle obtained by using the attitude heading reference system is an optimal solution of the current attitude angle solved through a gradient descent algorithm according to a quaternion differential equation, wherein the quaternion is a four-dimensional hypercomplex number formed by a real number and three imaginary numbers and can represent the rotation of the terminal equipment in space, namely the attitude of the terminal equipment in a geodetic coordinate system.
S306, acquiring the carrying mode of the terminal equipment.
The carrying mode of the terminal device includes a hands-free mode and other modes, and the other modes are modes except the hands-free mode.
The hands-free mode refers to that the terminal device swings, for example, the terminal device swings with the arm of the carrier in the hand of the carrier, the relative position (for example, relative to the human body) of the terminal device changes periodically, and the attitude angle of the terminal device changes accordingly, for example, changes with the swing of the arm.
In this embodiment, the carrying mode of the terminal device may be implemented by a relevant algorithm of the pattern recognition, or may be determined based on other obvious dynamic features, so that the determination mode of the carrying mode is not specifically limited.
And S307, if the carrying mode of the terminal equipment is the hand shaking mode, detecting the gait event of the pedestrian through the attitude angle.
When the carrying mode of the terminal equipment is the hand throwing mode, the attitude of the terminal equipment can generate periodic change, the ideal motion is approximately pendulum clock motion, and the change of the attitude angle of the terminal equipment can be corresponding to the walking of actual physical motion by utilizing the periodic rule, so that the gait detection is realized.
In summary, in the embodiment, the acceleration, the angular velocity and the earth magnetic field strength of the terminal device are obtained, the attitude angle of the geodetic coordinate system is obtained on the basis of ensuring the consistency of the sampling frequency, and the carrying mode of the terminal device is obtained.
Fourth embodiment
Referring to fig. 4, another flow chart of a pedestrian gait detection method of a terminal device is shown, which includes the following steps:
s401, acquiring acceleration, angular velocity and earth magnetic field intensity in a preset coordinate system corresponding to the terminal equipment.
In this embodiment, the acceleration, the angular velocity, and the earth magnetic field strength in a preset coordinate system may be obtained through an accelerometer, a gyroscope, and a magnetometer carried by the terminal device, where the preset coordinate system is a carrier coordinate system, that is, a coordinate system of the terminal device itself.
S402, judging whether the intensity of the earth magnetic field is smaller than a first preset value, if so, entering a step S403; otherwise, the process advances to step S404.
In this embodiment, the condition that the terminal device is interfered by the magnetic field can be obtained by determining the relationship between the strength of the earth magnetic field and the first preset value (i.e., the preset threshold).
And S403, bringing the acceleration, the angular speed and the earth magnetic field intensity into an attitude and heading reference system.
The method for obtaining the attitude angle by using the attitude heading reference system is to solve the optimal solution of the current attitude angle by a gradient descent algorithm according to a quaternion differential equation, wherein the quaternion is a four-dimensional hypercomplex formed by a real number and three imaginary numbers and can represent the rotation of the terminal equipment in space, namely the attitude of the terminal equipment in a geodetic coordinate system:
q＝(q 0 ，q 1 ，q 2 ，q 3 )
wherein q is 0 Representing the amplitude of rotation, q 1 ，q 2 ，q 3 Indicating the axis of rotation of the rotation. The method for representing the attitude by the quaternion has high calculation efficiency and is convenient for interpolation.
The attitude heading reference system comprises two modes: nine-axis modes including acceleration, angular velocity, and magnetic field strength, and six-axis modes including acceleration and angular velocity. Because the acceleration, angular velocity, and magnetic field strength are all three-dimensional vectors, the patterns are named according to the sensor data employed.
In this step, if the strength of the earth magnetic field is less than the preset threshold value, it indicates that the terminal device is located in a place with less magnetic field interference, and the method is suitable for adopting a nine-axis mode. The mode ensures that the obtained attitude angle is less interfered by the magnetic field and is more accurate.
And S404, bringing the acceleration and the angular speed into the attitude and heading reference system.
In this step, if the intensity of the earth magnetic field is greater than or equal to a first preset value (preset threshold), it indicates that the terminal device is located in a place with large magnetic field interference, and the actual intensity of the earth magnetic field is difficult to obtain.
S405, acquiring an attitude angle from the attitude heading reference system.
In the embodiment, the six-axis mode or the nine-axis mode using the attitude heading reference system is selected by the intensity of the earth magnetic field, and the required attitude angle is determined.
S406, acquiring the carrying mode of the terminal equipment.
The carrying mode of the terminal device includes a hands-free mode and other modes, and the other modes are modes except the hands-free mode.
The hands-free mode means that the terminal device swings with the arm of the carrier in the hand of the carrier, the relative position (for example, relative to the human body) of the terminal device changes periodically, and the attitude angle of the terminal device changes accordingly.
In this embodiment, the carrying mode of the terminal device may be implemented by a relevant algorithm of the pattern recognition, or may be determined based on other obvious dynamic features, so that the determination mode of the carrying mode is not specifically limited.
And S407, if the carrying mode of the terminal equipment is the hand shaking mode, detecting the gait event of the pedestrian through the attitude angle.
When the carrying mode of the terminal equipment is a hand shaking mode, the posture of the terminal equipment can generate periodic change, the ideal motion is similar to pendulum clock motion, and the change of the posture angle of the terminal equipment can be corresponding to the walking of actual physical motion by utilizing the periodic rule, so that the gait detection is realized.
It should be noted that the terminal device in this embodiment may be any mobile device having a function of measuring acceleration, angular velocity, and earth magnetic field strength, and may also be any mobile device that can obtain the current acceleration, angular velocity, and earth magnetic field strength of a pedestrian carrying the terminal device or the terminal device in real time through a communication manner.
In summary, the acceleration, the angular velocity, the earth magnetic field strength and the carrying mode of the terminal device of the embodiment are obtained, the attitude angles are calculated by adopting different attitude and heading reference system modes according to the interference condition of the magnetic field, and when the carrying mode is the hand-shaking mode, the gait event of the pedestrian is detected through the attitude angles, so that the error of the gait detection algorithm under the hand-shaking condition can be ensured to be small, and the algorithm can be ensured to be normally used.
Fifth embodiment
S501, acquiring the acceleration, the angular velocity and the earth magnetic field intensity in a preset coordinate system corresponding to the terminal equipment.
In this embodiment, the acceleration, the angular velocity, and the earth magnetic field strength in a preset coordinate system may be obtained through an accelerometer, a gyroscope, and a magnetometer carried by the terminal device, where the preset coordinate system is a carrier coordinate system, that is, a coordinate system of the terminal device itself.
And S502, calculating the attitude angle of the terminal equipment relative to the earth coordinate system according to the acceleration, the angular velocity and the intensity of the earth magnetic field.
In the embodiment, the attitude angle of the terminal equipment relative to the geodetic coordinate system can be obtained by utilizing the attitude heading reference system according to the acceleration, the angular velocity and the intensity of the terrestrial magnetic field. The system comprises a plurality of axial sensors capable of providing attitude information for the carrier, i.e. the terminal device, for example one or more of roll angle, pitch angle and heading angle.
The attitude angle obtained by using the attitude heading reference system is an optimal solution of the current attitude angle solved through a gradient descent algorithm according to a quaternion differential equation, and the quaternion is a four-dimensional hypercomplex number formed by a real number and three imaginary numbers and can represent the rotation of the terminal equipment in the space.
In this embodiment, a pitch angle is specifically required to be used, the pitch angle is an angle that rotates around the Y axis of the preset coordinate system, and the angle is used for gait detection, which is not affected by the walking direction of pedestrians and has high stability.
S503, acquiring the carrying mode of the terminal equipment.
In this embodiment, the carrying mode of the terminal device includes a flick mode and other modes, and the other modes are general names of modes except the flick mode.
The hands-free mode refers to that the terminal device swings, for example, the terminal device swings with an arm in a hand, the relative position (for example, relative to a human body) of the terminal device changes periodically, and the attitude angle of the terminal device changes accordingly, for example, changes with the swinging of the arm.
In this embodiment, the carrying mode of the terminal device may be implemented by a mode identification method, including the following steps:
s5031, acquiring acceleration and speed information of the terminal equipment in a first preset time.
S5032, extracting a gravitational component and a linear acceleration component from the acceleration information.
S5033, selecting a characteristic value from the gravitational component, the linear acceleration component, and the velocity of the acceleration.
Specifically, the absolute value of the projection of the gravity component on the coordinate axis of the preset coordinate system, the absolute values of the linear acceleration in the horizontal and vertical directions, and the absolute value of the projection of the angular velocity on the coordinate axis of the preset coordinate system are selected as the characteristic values.
S5034, acquiring sensor information of the terminal device, and determining the type of the carrying mode according to a classification rule, where the classification rule is determined according to the numerical distribution characteristics of the feature values in different carrying modes.
The above recognition for different carrying manners uses a pattern recognition method based on a decision tree, referring to fig. 6 to fig. 13, which show that the most obvious feature values under different motion states and carrying manners have different numerical distribution features, in the figure, the horizontal axis represents the carrying manner of 13, and the horizontal axes are respectively from 0 to 12: static, short message mode walking, phone mode walking, pocket mode walking, swing arm mode walking, short message mode running, phone mode running, pocket mode running, swing arm mode running, going up stairs, going down stairs, going up elevator and going down elevator.
The classification rule of the carrying mode is determined according to the statistical characteristics in the statistical result in the figure, so that the sensor information acquired by the terminal device is used for classifying and judging the carrying mode, whether the carrying mode is the hands-free mode is determined, of course, the judgment can be performed based on other obvious dynamic characteristics, and the judgment method of the carrying mode is not specifically limited in this embodiment.
And S504, if the carrying mode of the terminal equipment is the hand-shaking mode, detecting the gait event of the pedestrian through the attitude angle.
When the carrying mode of the terminal equipment is a hand shaking mode, the posture of the terminal equipment can generate periodic change, the ideal motion is similar to pendulum clock motion, and the change of the posture angle of the terminal equipment can be corresponding to the walking of actual physical motion by utilizing the periodic rule, so that the gait detection is realized.
In summary, in the embodiment, the attitude angle of the terminal device relative to the geodetic coordinate system and the carrying mode of the terminal device are obtained, the ground speed information and the acceleration information are collected by the sensor, and the carrying mode is determined.
Sixth embodiment
Referring to fig. 14, a flow chart of a pedestrian gait detection method of a terminal device is shown, which includes the following steps:
s1401, acquiring the acceleration, the angular velocity and the earth magnetic field intensity in a preset coordinate system corresponding to the terminal equipment.
In this embodiment, the acceleration, the angular velocity, and the earth magnetic field strength in a preset coordinate system may be obtained through an accelerometer, a gyroscope, and a magnetometer carried by the terminal device, where the preset coordinate system is a carrier coordinate system, that is, a coordinate system of the terminal device itself.
And S1402, calculating the attitude angle of the terminal equipment relative to the earth coordinate system according to the acceleration, the angular velocity and the intensity of the earth magnetic field.
In the embodiment, the attitude angle of the terminal equipment relative to the geodetic coordinate system can be obtained by utilizing the attitude heading reference system according to the acceleration, the angular velocity and the intensity of the terrestrial magnetic field. The system comprises a plurality of axial sensors capable of providing attitude information for the carrier, i.e. the terminal device, for example acquiring one or more of roll angle, pitch angle and heading angle.
The attitude angle obtained by using the attitude heading reference system is an optimal solution of the current attitude angle solved through a gradient descent algorithm according to a quaternion differential equation, and the quaternion is a four-dimensional hypercomplex number formed by a real number and three imaginary numbers and can represent the rotation of the terminal equipment in the space.
And S1403, acquiring the carrying mode of the terminal equipment.
In this embodiment, the carrying mode of the terminal device includes a hands-free mode and other modes, and the other modes are modes except the hands-free mode and are collectively referred to as a "hands-free mode".
The hands-free mode refers to that the terminal device swings, for example, the terminal device swings with an arm in a hand, the relative position (for example, relative to a human body) of the terminal device changes periodically, and the attitude angle of the terminal device changes accordingly, for example, changes with the swinging of the arm.
S1404, judging whether the carrying mode of the terminal equipment is in a hand throwing mode, if so, entering the step S1405; otherwise, the flow may end.
And S1405, performing low-pass filtering on the acquired attitude angles, and extracting the pitch angles in the plurality of attitude angles stored in the second preset time.
In this embodiment, the attitude angle needs to be stored for a certain time (for example, a second preset time).
In this embodiment, a pitch angle is specifically required to be used, the pitch angle is an angle rotating around the Y axis of the preset coordinate system, and the gait detection using the angle is not affected by the walking direction of the pedestrian and has high stability.
S1406, judging whether a minimum value point exists in the plurality of pitch angles, if so, entering a step S1407; otherwise, the process proceeds to step S1408.
S1407, judging whether the minimum value of the pitch angle is smaller than a second preset value, if so, entering a step S1410; otherwise, the flow may end.
S1408, judging whether a plurality of pitch angles have maximum value points, if yes, entering a step S1409; otherwise, the flow may end.
S1409, judging whether the maximum value of the pitch angle is larger than a third preset value, if so, entering a step S1411; otherwise, the flow may end.
And S1410, outputting the gait event.
In this embodiment, when an extreme point exists in the pitch angle, the extreme point is further checked by using a second preset value and a third preset value, that is, a priori threshold, so as to filter the influence of a micro-action on the method, and provide the robustness of the method.
In this embodiment, fig. 15 is finally obtained, in which a pitch angle curve obtained by walking a closed path close to a rectangle with the terminal device in the hands-off mode is shown, and a circle in the figure represents a maximum value and a minimum value, that is, a gait detection point considered by the method.
In summary, in this embodiment, by determining the extreme point of the pitch angle in the attitude angle of the terminal device relative to the geodetic coordinate system, the gait event is output accordingly, the gait event of the pedestrian can be acquired and the number of steps can be counted in the hand-shaking mode of the terminal device, so that the gait detection algorithm is ensured to have a small error in the hand-shaking condition, can be normally used, and can be used for positioning indoors or in an environment shielded by a building.
Seventh embodiment
Referring to fig. 16, a schematic structural diagram of a terminal device is shown, where the terminal device includes: attitude angle acquisition module 1601, carrying mode acquisition module 1602 and detection module 1603.
The attitude angle obtaining module 1601 is configured to obtain an attitude angle of the terminal device relative to a geodetic coordinate system; the carrying mode acquiring module 1602 is configured to acquire a carrying mode of the terminal device; the detection module 1603 is configured to detect a pedestrian gait event through the attitude angle if the carrying mode of the terminal device is the hand shaking mode.
The attitude angle acquisition module 1601 includes an information acquisition unit 16011 and an attitude angle calculation unit 16012.
The information acquisition unit 16011 is configured to acquire an acceleration, an angular velocity, and an earth magnetic field strength in a preset coordinate system corresponding to the terminal device; the attitude angle calculation unit 16012 is configured to calculate an attitude angle of the terminal device with respect to the geodetic coordinate system based on the acceleration, the angular velocity, and the intensity of the magnetic field of the earth.
In this embodiment, the information acquiring unit 16011 includes:
the first acquisition subunit 160111: the system comprises an accelerometer, a gyroscope, a terminal device and a controller, wherein the accelerometer is used for acquiring acceleration through the terminal device, acquiring angular velocity through the gyroscope of the terminal device, and acquiring the intensity of the earth magnetic field through the magnetometer of the terminal device;
the first processing subunit 160112: the method comprises the steps of performing spline interpolation on acceleration, angular velocity and the intensity of the earth magnetic field for a preset number of times if the sampling frequencies of the acceleration, the angular velocity and the intensity of the earth magnetic field are inconsistent;
the second processing subunit 160113: for low pass filtering of acceleration, angular velocity and earth magnetic field strength.
In this embodiment, the attitude angle calculation unit 16012 includes:
the first calculating subunit 160121: the system is used for bringing the acceleration, the angular speed and the intensity of the earth magnetic field into an attitude and heading reference system if the intensity of the earth magnetic field is smaller than a first preset value;
the second calculating subunit 160122: the system is used for bringing the acceleration and the angular speed into the attitude and heading reference system if the intensity of the earth magnetic field is greater than or equal to a first preset value;
output subunit 160123: for outputting the attitude angle from an attitude heading reference system.
In this embodiment, the portable mode obtaining module 1602 includes:
the reference unit 16021 is configured to collect acceleration and speed information of the terminal device within a first preset time in advance;
an acquiring unit 16022 configured to acquire a gravity component and a linear acceleration component from the acceleration information;
the assigning unit 16023 is configured to select a feature value from a gravity component, a linear acceleration component and a velocity of the acceleration;
the determining unit 16024 is configured to obtain sensor information of the terminal device, and determine a carrying manner according to a classification rule, where the classification rule is determined according to a numerical distribution characteristic of feature values in different carrying manners.
In this embodiment, the detecting module 1603 includes:
the extracting unit 16031 is configured to perform low-pass filtering on the acquired attitude angles and extract a pitch angle from a plurality of attitude angles stored in a second preset time;
the determining unit 16032 is configured to determine a gait event if extreme values exist in the plurality of pitch angles, minimum values of the plurality of pitch angles are smaller than a second preset value and/or maximum values of the plurality of pitch angles are larger than a third preset value.
In summary, in this embodiment, the required attitude angle can be acquired by the attitude angle acquisition module, the carrying mode of the terminal device is determined by the carrying mode acquisition module, and when the terminal device is in the hand shaking mode, the pedestrian gait event is detected by the attitude angle through the detection module, so that the detection error is small when the terminal device and the pedestrian move relatively.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
In addition, the terms "system" and "network" are often used interchangeably herein.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately included, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform part of the steps of the pedestrian gait detection method in the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. A pedestrian gait detection method of a terminal device, the method comprising:
acquiring an attitude angle of the terminal equipment relative to a geodetic coordinate system;
acquiring the carrying mode of the terminal equipment;
if the carrying mode of the terminal equipment is a hand-shaking mode, detecting a gait event of the pedestrian through the attitude angle;
wherein, the acquiring the carrying mode of the terminal device comprises:
acquiring acceleration and speed information of the terminal equipment within first preset time;
acquiring a gravity component and a linear acceleration component from the acceleration information;
selecting a characteristic value from a gravity component, a linear acceleration component and a speed of the acceleration;
acquiring sensor information of terminal equipment, and determining the type of a carrying mode according to a classification rule, wherein the classification rule is determined according to the numerical distribution characteristics of characteristic values under different carrying modes;
wherein said detecting a gait event of a pedestrian by said attitude angle comprises:
low-pass filtering the obtained attitude angles, and extracting a pitch angle in a plurality of attitude angles stored in a second preset time;
and if extreme values exist in the extracted plurality of pitch angles, the minimum values of the plurality of pitch angles are smaller than a second preset value and/or the maximum values of the plurality of pitch angles are larger than a third preset value, and the gait event is judged.
2. The pedestrian gait detection method of the terminal device according to claim 1, wherein the acquiring the attitude angle of the terminal device with respect to a geodetic coordinate system includes:
acquiring acceleration, angular velocity and earth magnetic field intensity in a preset coordinate system corresponding to the terminal equipment;
and calculating the attitude angle of the terminal equipment relative to a geodetic coordinate system according to the acceleration, the angular velocity and the intensity of the magnetic field of the earth.
3. The pedestrian gait detection method of the terminal device according to claim 2, wherein the acquiring acceleration, angular velocity and earth magnetic field strength in a preset coordinate system corresponding to the terminal device includes:
acquiring acceleration through an accelerometer of the terminal equipment, acquiring angular velocity through a gyroscope of the terminal equipment, and acquiring the intensity of the earth magnetic field through a magnetometer of the terminal equipment;
if the sampling frequency of the acceleration, the angular velocity and the earth magnetic field intensity is not consistent, carrying out spline interpolation on the acceleration, the angular velocity and the earth magnetic field intensity for a predetermined number of times;
and performing low-pass filtering on the acceleration, the angular velocity and the intensity of the magnetic field of the earth.
4. The pedestrian gait detection method of the terminal device according to claim 2, wherein the calculating an attitude angle of the terminal device with respect to a geodetic coordinate system based on the acceleration, the angular velocity and the intensity of the earth magnetic field includes:
if the earth magnetic field intensity is smaller than a first preset value, the acceleration, the angular speed and the earth magnetic field intensity are brought into an attitude and heading reference system;
if the intensity of the earth magnetic field is greater than or equal to a first preset value, the acceleration and the angular speed are brought into an attitude and heading reference system;
and outputting the attitude angle from the attitude heading reference system.
5. A terminal device, characterized in that the terminal device comprises:
an attitude angle acquisition module: the attitude angle of the terminal equipment relative to a geodetic coordinate system is acquired;
the carrying mode acquisition module: the method comprises the steps of obtaining a carrying mode of the terminal equipment;
a detection module: the pedestrian gait event detection device is used for detecting a pedestrian gait event through the attitude angle if the carrying mode of the terminal device is a hand shaking mode;
wherein, the carrying mode acquisition module comprises:
a reference unit: the system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring acceleration and speed information of terminal equipment within first preset time;
an acquisition unit: the acceleration information acquisition unit is used for acquiring a gravity component and a linear acceleration component from the acceleration information;
an assignment unit: the acceleration sensor is used for selecting a characteristic value from a gravity component, a linear acceleration component and a speed of the acceleration;
a determination unit: the system comprises a sensor, a carrying mode determining module, a processing module and a display module, wherein the sensor is used for acquiring sensor information of terminal equipment and determining the carrying mode according to a classification rule, and the classification rule is determined according to the numerical distribution characteristics of characteristic values under different carrying modes;
wherein the detection module comprises:
an extraction unit: low-pass filtering the obtained attitude angles, and extracting a pitch angle in a plurality of attitude angles stored in a second preset time;
a determination unit: and if the extracted plurality of pitch angles have extreme values, determining that the minimum value of the plurality of pitch angles is smaller than a second preset value and/or the maximum value of the plurality of pitch angles is larger than a third preset value, and determining as a gait event.
6. The terminal device of claim 5, wherein the attitude angle acquisition module comprises:
an information acquisition unit: the system comprises a terminal device, a data acquisition module, a data processing module and a data processing module, wherein the terminal device is used for acquiring acceleration, angular velocity and earth magnetic field intensity in a preset coordinate system corresponding to the terminal device;
an attitude angle calculation unit: the terminal equipment is used for calculating the attitude angle of the terminal equipment relative to a geodetic coordinate system according to the acceleration, the angular velocity and the intensity of the magnetic field of the earth;
wherein the information acquisition unit includes:
a first acquisition subunit: the system comprises an accelerometer, a gyroscope, a terminal device and a controller, wherein the accelerometer is used for acquiring acceleration through the terminal device, acquiring angular velocity through the gyroscope of the terminal device, and acquiring the intensity of the earth magnetic field through the magnetometer of the terminal device;
a first processing subunit: the system is used for carrying out spline interpolation on the acceleration, the angular velocity and the earth magnetic field intensity for a preset number of times if the sampling frequencies of the acceleration, the angular velocity and the earth magnetic field intensity are not consistent;
a second processing subunit: the low-pass filter is used for carrying out low-pass filtering on the acceleration, the angular velocity and the earth magnetic field intensity;
the attitude angle calculation unit includes:
the first calculating subunit: the system is used for bringing the acceleration, the angular velocity and the intensity of the earth magnetic field into an attitude and heading reference system if the intensity of the earth magnetic field is smaller than a first preset value;
a second calculation subunit: the system is used for bringing the acceleration and the angular speed into an attitude and heading reference system if the intensity of the earth magnetic field is greater than or equal to a first preset value;
an output subunit: and the attitude angle is output from the attitude heading reference system.
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| CN201710078777.3A CN108426573B (en) | 2017-02-14 | 2017-02-14 | Pedestrian gait detection method of terminal equipment and terminal equipment |
| PCT/CN2018/075384 WO2018149324A1 (en) | 2017-02-14 | 2018-02-06 | Detection method and terminal device |
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| CN109685111B (en) * | 2018-11-26 | 2023-04-07 | 深圳先进技术研究院 | Motion recognition method, computing system, intelligent device and storage medium |
| CN109883431A (en) * | 2019-02-21 | 2019-06-14 | 北京方位捷讯科技有限公司 | One kind walking appearance judgment method and system |
| CN110420029A (en) * | 2019-08-03 | 2019-11-08 | 苏州自如医疗器械有限公司 | A kind of walking step state wireless detecting system based on Multi-sensor Fusion |
| CN111751573B (en) * | 2019-09-10 | 2022-05-27 | 广东小天才科技有限公司 | Mobile terminal and moving direction determining method thereof |
| CN110693501A (en) * | 2019-10-12 | 2020-01-17 | 上海应用技术大学 | Wireless walking gait detection system based on multi-sensor fusion |
| CN112237427B (en) * | 2020-10-14 | 2024-05-28 | 北京爱笔科技有限公司 | Method, device, detection equipment and computer storage medium for detecting steps |
| CN112268556B (en) * | 2020-10-23 | 2022-02-25 | 重庆越致科技有限公司 | Method and device for detecting state of pedestrian taking escalator |
| CN112304316B (en) * | 2020-10-23 | 2021-11-26 | 重庆越致科技有限公司 | Method and device for automatically detecting state and track of pedestrian taking elevator |
| CN113203416B (en) * | 2021-03-19 | 2022-07-12 | 电子科技大学 | Pedestrian dead reckoning method for swing arm pedestrian |
| CN114526727B (en) * | 2022-01-11 | 2023-11-21 | 重庆邮电大学 | Decision tree-based step number judging method |
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