CN108469268A - A kind of step-recording method based on micro-mechanical gyroscope - Google Patents
A kind of step-recording method based on micro-mechanical gyroscope Download PDFInfo
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- CN108469268A CN108469268A CN201810212198.8A CN201810212198A CN108469268A CN 108469268 A CN108469268 A CN 108469268A CN 201810212198 A CN201810212198 A CN 201810212198A CN 108469268 A CN108469268 A CN 108469268A
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- micro
- mechanical gyroscope
- pedestrian
- recording method
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
- G01C22/006—Pedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
Abstract
The invention discloses a kind of step-recording methods based on micro-mechanical gyroscope, establish reference frame by coordinate origin of human body center, Z axis is directed toward vertical direction, and X-axis is directed toward people's direction of advance, and Y-axis is directed toward left side, meets the right-hand rule；Micro-mechanical gyroscope is placed on the huckle of pedestrian, and sensitive axes are parallel to Y-axis；The motion state of pedestrian is determined by detecting micro-mechanical gyroscope with the presence or absence of periodically output, calculates the step number of pedestrian's walking.New step-recording method proposed by the present invention based on micro-mechanical gyroscope, perfect in shape and function, method is easily achieved, with obvious effects, can substitute the commonly step-recording method based on accelerometer；Applied to that in navigation positioning system, can save dedicated for the accelerometer of meter step, it is of great significance to simplifying system and saving cost.
Description
Technical field
The invention belongs to pedestrian navigation technical fields, more particularly to pedestrian's step-recording method of micro-mechanical gyroscope.
Background technology
The design philosophy of traditional step count set is measured using 3 axis accelerometers for being fixed on the positions such as human lumbar, back
Then acceleration signal when pedestrian advances identifies the stance phase and swing phase of pedestrian's walking enough by algorithm, while real
It is existing walk step number calculating, it is current most common technique to carry out meter step using acceierometer sensor, but due to pedestrian's walking
The uncertainty of form, to accurately realize that meter step just needs high-precision sensor and complicated software algorithm accurately to detect
True paces propose higher requirement to CPU and cost.
Invention content
The purpose of the present invention：
Patent of the present invention propose it is a kind of counting step implementation method by the new of core of micro-mechanical gyroscope, it utilizes human body
The feature for the periodic motion that huckle occurs in natural walking process, the variation that human motion is perceived using gyroscope are counted
Step.The implementation method of the patent is simple, and accuracy is high, it is easy to accomplish.
Realize that the object of the invention technical solution is：
A kind of step-recording method based on micro-mechanical gyroscope, characterized in that established and referred to as coordinate origin using human body center
Coordinate system, Z axis are directed toward vertical direction, and X-axis is directed toward people's direction of advance, and Y-axis is directed toward left side, meets the right-hand rule；Micromechanical gyro
Instrument is placed on the huckle of pedestrian, and sensitive axes are parallel to Y-axis；By detecting micro-mechanical gyroscope with the presence or absence of periodically output
To determine the motion state of pedestrian, the step number of calculating pedestrian's walking.
Define pedestrian a paces period be since stepping a step rear heel and contacting to earth ing, arrive identical foot heel next time
It contacts to earth end；
In a paces period, pedestrian's thigh is stepped to during landing forward, and micro-mechanical gyroscope perceives huckle
Motion state export corresponding angular speed, leg moment is static when contacting to earth twice, and micro-mechanical gyroscope output is zero.
The condition in judgement one paces period of pedestrian movement is that the waveform of micro-mechanical gyroscope output data passes through two zero
Point, and there are one apparent peak values between two zeros；It is walked by the sum and peak computational pedestrian that detect zero
Step number.
Further include the steps that threshold value verification when calculating the step number of pedestrian's walking：
After zero passage detection each time, go to verify whether to meet paces Rule of judgment using threshold value；When detecting one
When a zero, whether its value, which is more than threshold value, is detected for next wave crest；When crest value is more than threshold value, then step number adds 1, otherwise
It filters out.
The threshold value determines as follows：
The maximum value and minimum value of continuous updating micro-mechanical gyroscope output；Often sampling no less than 50 times when by maximum value with
Minimum value takes mean value, which is set as threshold value；Next identical no less than 50 samplings utilize this threshold decision pedestrian
Whether 1 step is stepped.
Further include the steps that time window filtering when calculating the step number of pedestrian's walking：
The period defined between time interval 0.2s~2.0s of two effective paces is time window, to two paces
All paces of the time interval beyond the time window are filtered out, and invalid zero is excluded.
Using the data of high-speed digital signal processor acquisition micro-mechanical gyroscope output, and low pass is carried out to collected data
Filtering and smoothing processing.
When filtering by Frequency Design be 3Hz~5Hz.
The advantages of the invention and the effect reached：
(1) the new step-recording method based on micro-mechanical gyroscope that this patent proposes, perfect in shape and function, method are easily achieved,
It is with obvious effects, the commonly step-recording method based on accelerometer can be substituted.
(2) this patent further applies in navigation positioning system, can save dedicated for the accelerometer of meter step, right
Simplify system and save cost and is of great significance.
Description of the drawings
Fig. 1 step-recording method flow charts.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
Reference frame is established by coordinate origin of human body center, Z axis is directed toward vertical direction, and X-axis is directed toward people's direction of advance,
Y-axis is directed toward left side, meets the right-hand rule.Micro-mechanical gyroscope is placed on the huckle of pedestrian, and sensitive axes are parallel to Y-axis.
During normal walking, thigh is in period simple harmonic motion state, and the data variation of gyroscope output at this time has periodically, and
Amplitude is larger.The motion state of pedestrian is determined by detecting gyroscope with the presence or absence of periodically output, completes meter step, method is such as
Shown in Fig. 1, details are as follows for each step：
1, data acquisition and procession
The data of gyroscope output are acquired by high-speed digital signal processor, and low-pass filtering then is carried out to collected data
And smoothing processing, filter out part high-frequency noise and burr, by Frequency Design be 3Hz~5Hz；
2, paces judge
Since one step of pedestrian defined in this method be stepping a step rear heel and contacting to earth, and the heel to identical foot touches next time
Terminate on ground.In a paces period, thigh is stepped to during landing forward, and gyroscope perceives the motion state output of leg
Corresponding angular speed, leg moment is static when contacting to earth twice, and gyroscope output is zero.One step of pedestrian movement is judged in this method
Condition is that the waveform of gyroscope output data passes through two zeros, and there are one apparent peak values between two zeros.Pass through
The step number that pedestrian walks can be calculated by detecting the sum of zero and peak value.
3, threshold value is verified
In paces detection, after zero passage detection each time, also to go to verify whether to meet paces judgement using threshold value
Condition.The reading of gyroscope can all reach peak value after zero crossing each time, but vibration when due to walking or gyroscope
The reasons such as test error, it may appear that apparent much smaller peak value, it does not correspond to the swing of thigh, therefore this peak value is to disappear
It removes.In the method, when detecting a zero, also to detect whether its value is more than threshold value for next wave crest.
When crest value is more than threshold value, step number will add 1, otherwise filter out.
Threshold value determines that systems stay updates the maximum value and minimum value of gyroscope as follows, often sampling no less than 50
Secondary that maxima and minima is taken mean value, which is threshold value.Next identical no less than 50 samplings utilize this threshold value
Judge whether pedestrian steps paces.
4, time window filters
Pedestrian contacts to earth from foot to leaving in a paces, and gyroscope signal is with a negative slope zero passage, but due to vibration
Equal interference still may be in a short time with positive slope zero passage, this will result in error.Time window filtering is invalid for excluding
Zero.The most fast velocity of pedestrian is 5 step per second, and most slow walking speed is half step per second.In this way, two effective paces
Time interval is defined herein as " time window " within 0.2s~2.0s, and two pace time periods exceed the time window
All paces will be filtered out.
This patent proposes a kind of new step-recording method based on micro-mechanical gyroscope, is walked from accelerometer meter different
It is that it is to detect the periodic motion state that huckle occurs in people's walking process using micro-mechanical gyroscope to carry out meter step, this is specially
The algorithm that profit is realized is simple, low to hardware requirement, easy to spread.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of step-recording method based on micro-mechanical gyroscope, characterized in that established with reference to seat by coordinate origin of human body center
Mark system, Z axis are directed toward vertical direction, and X-axis is directed toward people's direction of advance, and Y-axis is directed toward left side, meets the right-hand rule；Micro-mechanical gyroscope
It is placed on the huckle of pedestrian, sensitive axes are parallel to Y-axis；By detect micro-mechanical gyroscope with the presence or absence of periodically output come
It determines the motion state of pedestrian, calculates the step number of pedestrian's walking.
2. a kind of step-recording method based on micro-mechanical gyroscope according to claim 1, characterized in that define the one of pedestrian
Since a paces period be stepping a step rear heel and contacting to earth, and the heel to identical foot contacts to earth end next time；
In a paces period, pedestrian's thigh is stepped to during landing forward, and micro-mechanical gyroscope perceives the fortune of huckle
The corresponding angular speed of dynamic state output, leg moment is static when contacting to earth twice, and micro-mechanical gyroscope output is zero.
3. a kind of step-recording method based on micro-mechanical gyroscope according to claim 1 or 2, characterized in that judgement pedestrian
The condition in one paces period of movement is that the waveform of micro-mechanical gyroscope output data passes through two zeros, and two zeros
Between there are one apparent peak value；By detecting the sum of zero and the step number of peak computational pedestrian walking.
4. a kind of step-recording method based on micro-mechanical gyroscope according to claim 3, characterized in that calculate pedestrian's walking
Step number when, further include the steps that threshold value verification：
After zero passage detection each time, go to verify whether to meet paces Rule of judgment using threshold value；When detecting one zero
When point, whether its value, which is more than threshold value, is detected for next wave crest；When crest value is more than threshold value, then step number adds 1, otherwise filters
It removes.
5. a kind of step-recording method based on micro-mechanical gyroscope according to claim 4, characterized in that the threshold value is by such as
Lower method determines：
The maximum value and minimum value of continuous updating micro-mechanical gyroscope output；By maximum value and minimum when often sampling is no less than 50 times
Value takes mean value, which is set as threshold value；Whether next identical no less than 50 samplings utilize this threshold decision pedestrian
Step 1 step.
6. a kind of step-recording method based on micro-mechanical gyroscope according to claim 3, characterized in that calculate pedestrian's walking
Step number when, further include the steps that time window filtering：
The period defined between time interval 0.2s~2.0s of two effective paces is time window, to two pace times
All paces of the interval beyond the time window are filtered out, and invalid zero is excluded.
7. a kind of step-recording method based on micro-mechanical gyroscope according to claim 1, characterized in that use high speed signal
Processor acquires the data of micro-mechanical gyroscope output, and carries out low-pass filtering and smoothing processing to collected data.
8. a kind of step-recording method based on micro-mechanical gyroscope according to claim 7, characterized in that by frequency when filtering
Rate is designed as 3Hz~5Hz.
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| CN110044375A (en) * | 2019-04-30 | 2019-07-23 | 杭州电子科技大学 | A kind of novel step-recording method based on accelerometer |
| CN110495892A (en) * | 2019-08-28 | 2019-11-26 | 歌尔科技有限公司 | A kind of exercise data detection method and intelligent wearable device |
| CN110766982A (en) * | 2019-09-26 | 2020-02-07 | 浙江从泰网络科技有限公司 | Vehicle collision detection system based on vehicle-mounted sensor |
| CN111536989A (en) * | 2020-05-26 | 2020-08-14 | 江南大学 | Adaptive time window step counting method based on peak detection |
| CN113340322A (en) * | 2021-06-25 | 2021-09-03 | 歌尔科技有限公司 | Step counting method and device, electronic equipment and readable storage medium |
| CN113940642A (en) * | 2021-05-27 | 2022-01-18 | 数智引力(厦门)运动科技有限公司 | Motion capture method, system, terminal device and storage medium |
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