CN108693982A - A kind of processing method that mobile phone built-in sensors gathered data is transformed into reference frame from mobile phone coordinate system - Google Patents
A kind of processing method that mobile phone built-in sensors gathered data is transformed into reference frame from mobile phone coordinate system Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72448—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions
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Abstract
The invention discloses the processing methods that a kind of 3-axis acceleration data by the acquisition of mobile phone built-in acceleration sensor are transformed into from mobile phone coordinate system the earth reference frame.The reference frame is based on orthonormal basis and is totally independent of mobile phone coordinate system, transformed 3-axis acceleration data have clearly physical meaning, it can more accurately reflect cellie in the movement tendency of each axis, X, Y-axis data record user are in the horizontal direction(Front/rear, left/right)Movement, Z axis data record user is in vertical direction(Up/down)Movement.To effectively reduce influence of the mobile phone orientation to built-in acceleration transducer gathered data, it is significantly improved to the Activity recognition accuracy of cellie;This method has a wide range of applications in the context aware based on mobile terminal.
Description
Technical field
The present invention proposes a kind of 3-axis acceleration data acquiring mobile phone built-in sensors and is converted from mobile phone coordinate system
To the processing method of the earth reference frame, this method is related to the fields such as mobile communication, pattern-recognition and context aware.
Background technology
Activity recognition currently based on smart mobile phone is a research hotspot in ambient intelligence, has and extremely widely answers
Use foreground.Multiple sensors such as acceleration transducer, gyroscope, magnetometer, direction sensor built in smart mobile phone etc. can be with
Different movements, direction and external environment are perceived, especially in the movement of monitoring device and change in location, can obtain compared with
Accurate initial three-dimensional data;But these data are all based on mobile phone coordinate system, when the position or direction that mobile phone is placed occur
Collected data can change correspondingly when change.Since position is placed in the personalization of mobile phone user's use habit, such as mobile phone in reality
Difference is set, is often to be held in the hand, is also placed in trouser pocket or handbag and the specific direction of mobile phone is different, it all will be direct
Influence the result for user behavior being identified classification.
In existing similar research, most of movement feelings that user is detected using the acceleration transducer built in mobile phone
Condition.Foreign scholar mostly uses greatly at present removes gravitational vectors, or certain specific pendulum of selection mobile phone to the acceleration of each axis
It puts position and carries out coordinate mapping to realize the compensating approach to original acceleration;It can be seen that position and side that sensor is placed
Have a significant impact to the accuracy to Activity recognition.In view of the diversity of user's use habit and putting for mobile phone in practical application
Position is arbitrary, therefore the 3-axis acceleration data that mobile phone built-in sensors acquire are transformed into unified ginseng from mobile phone coordinate system
Examining coordinate system has general applicability, it will Activity recognition accuracy is significantly increased and is widely applied foreground.
No. 200710075404.7 Chinese patent application discloses a kind of method of control mobile phone to play music.Pass through acceleration
The different directions for spending sensor perception user's whipping mobile phone, transmit different azimuth informations to music player, to carry out phase
The song switching or volume adjustment operation answered.But user is in whipping mobile phone, because mobile phone direction is vertical with earth's surface horizontal plane or
Parallel direction there will necessarily be deviation, using the acceleration information detected judge will produce maloperation when processing, such as play
Volume, which can neglect to increase to neglect, to be subtracted, to be played according to user's actual need to control mobile phone music.
No. 201410654221.0 Chinese patent application discloses a kind of real-time based on smart mobile phone acceleration transducer
Traffic method of estimation.Acceleration information is acquired by the acceleration transducer that smart mobile phone carries, the memory of mobile phone is used in combination
The data measured are handled, estimate traffic information using the good model of off-line training.It needs to utilize intelligent hand in implementation process
Acceleration transducer, direction sensor and the GPS of machine realize vehicle axis system and mobile phone by measuring the starting state of vehicle
Conversion between coordinate system and correction.But there is no the specific direction and position of clear smart mobile phone onboard in the invention, ignore
The inconsistency of vehicle axis system and the earth reference frame in practical road conditions.
Invention content
It is an object of the invention to the deficiencies for above-mentioned prior art, it is proposed that a kind of to sense mobile phone built-in acceleration
The 3-axis acceleration data of device acquisition are transformed into the processing method of the earth reference frame, transformed three axis from mobile phone coordinate system
Acceleration information has clearer physical meaning, influence of the mobile phone orientation to gathered data is reduced, based on mobile terminal
Have a wide range of applications in context aware.
The present invention is that a kind of 3-axis acceleration data acquiring mobile phone built-in acceleration sensor turn from mobile phone coordinate system
Change to the processing method of the earth reference frame, which is characterized in that the earth reference frame in this patent be based on standard just
Base is handed over, and is totally independent of mobile phone coordinate system.The ground of X-direction tangent mobile phone present position, directs at east;Y-axis side
It is directed toward magnetic north pole to the ground is equally tangential to;Z-direction then points into the sky perpendicular to ground.And the determination of mobile phone coordinate system with
Mobile phone screen is related.X-axis is the direction referred to the right in mobile phone screen plane, otherwise is-x;Y-axis is upward in mobile phone screen plane
The direction of finger, perpendicular to x-axis;And z-axis is the direction referred to outward right over mobile phone screen plane.
The present invention is that a kind of 3-axis acceleration data acquiring mobile phone built-in acceleration sensor turn from mobile phone coordinate system
Change to the processing method of the earth reference frame, which is characterized in that utilize the acceleration transducer and direction sensing built in mobile phone
Device acquires 6 data in each sampled point, in addition to 3-axis acceleration is there are three angle change, respectively azimuth,
Pitch and roll.Azimuth indicates magnetic north pole and mobile phone coordinate system y-axis pinch;Pitch indicates the angle of x-axis and horizontal plane,
When z-axis is rotated to y-axis, angle is positive value;The value range of Azimuth and Pitch is;Roll indicates y-axis
With the angle of horizontal plane, when x-axis is moved to z-axis, angle is positive value, its value range is。
The present invention is that a kind of 3-axis acceleration data acquiring mobile phone built-in acceleration sensor turn from mobile phone coordinate system
Change to the processing method of the earth reference frame, which is characterized in that Eulerian angles can be used for describing arbitrary rotation, for any ginseng
It examines and is, the orientation of a rigid body can be converted according to rotational order.Use for reference this thought and rigid body coordinate system and ginseng
Mutual conversion method between coordinate system is examined, the 3-axis acceleration data that can be calculated under reference frame are:
,
Wherein R indicates the spin matrix that description rigid body is orientated, i.e. the mapping method from mobile phone coordinate system to reference frame, R by
Three basic spin matrixs are combined, and variable a, p, r indicate azimuth, pitch and roll respectively.
Description of the drawings
Fig. 1 is the mobile phone coordinate system schematic diagram involved in the present invention;
Fig. 2 is the reference frame schematic diagram involved in the present invention;
Fig. 3 is the acceleration information figure of the lower five kinds of behaviors of different coordinates in the present invention.
Specific implementation mode
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
In order to clearly illustrate effectiveness of the invention, carry out being based on mobile phone built-in acceleration sensor in the present embodiment
Human bodys' response experiment.Test data selects the common human body behavioral data collection based on acceleration transducer, the number
According to collection be it is complete naturally under the conditions of, picker is by mobile phone(2 smart mobile phones of Samsung Galaxy Note)Be held in the hand respectively,
It is placed on trouser pocket or is placed in handbag to a variety of different behavior gathered datas.
The identifying system includes mainly following module:Data acquisition, pretreatment, feature extraction selection and grader instruction
Practice and identifies several modules.
1. data acquisition module:Human body is acquired five by 3-axis acceleration sensor built in mobile phone and direction sensor
Kind basic act(It is static, walk, running, upstairs, downstairs)When three-dimensional acceleration data and three angle changes, respectively
Azimuth, pitch and roll;But these initial data obtained are all based on mobile phone coordinate system, when the position that mobile phone is placed
Or direction when changing collected data can change correspondingly.The frequency acquisition of application program acquiescence is 100hz;Acquire number
According to when the direction of mobile phone is not arranged deliberately, depend entirely on the use habit of individual subscriber.
2. preprocessing module:It is more preferable to obtain that the pretreatment such as coordinate conversion, filtering and noise reduction is carried out to the initial data of acquisition
Recognition effect.
X-axis in mobile phone coordinate system is the direction referred to the right in mobile phone screen plane, otherwise is-x;Y-axis is mobile phone screen
The direction referred to upwards in plane, perpendicular to x-axis;And z-axis is the direction referred to outward right over mobile phone screen plane, is such as schemed
Shown in 1.
The earth reference frame is to be based on orthonormal basis, and be totally independent of mobile phone coordinate system.Its X-direction tangent hand
The ground of machine present position, directs at east;Y direction is equally tangential to the ground and is directed toward magnetic north pole;Z-direction is then vertical
It points into the sky in ground, as shown in Figure 2.
Transformed 3-axis acceleration data have clearly physical meaning, can more accurately reflect human body each
The movement tendency of axis;X, Y-axis records of acceleration user is in the horizontal direction(It is front/rear, left/right)Movement, Z axis accelerate the number of degrees
According to then recording user in vertical direction(Up/down)Movement.
Eulerian angles can be used for arbitrary rotation is described, its basic thought be angular displacement is decomposed into it is orthogonal around three
The sequence of three rotation compositions of axis.For any referential, the orientation of a rigid body can be carried out according to rotational order
Conversion.Mutual conversion method between this thought and rigid body coordinate system and reference frame is used for reference, reference coordinate can be calculated
System under 3-axis acceleration data be:
,
Wherein R indicates the spin matrix that description rigid body is orientated, i.e. the mapping method from mobile phone coordinate system to reference frame, R by
Three basic spin matrixs are combined, and variable a, p, r indicate azimuth, pitch and roll respectively.
3. characteristic extracting module:For the identification a variety of different features of Objective extraction;Usually to acceleration signal extraction
Feature includes temporal signatures, frequency domain character and time-frequency characteristics, preferably after feature set characterize the prominent characteristics of various actions.
Sliding window setting technique is used in the present embodiment;Because mobile phone built-in application program default sample frequency be 100hz, sliding window it is big
Small to be set as 1.5s, adjacent window apertures carry out juxtaposition by 50%.In each sliding window, coordinate is converted pretreated
Both horizontally and vertically totally 33 features on acceleration information extraction time domain and frequency domain, such as mean value, standard deviation, signal amplitude, four
Divide potential difference, the degree of bias, kurtosis, comentropy, related coefficient etc..
4. classifier training identification module:Its major function is a kind of sorting algorithm of selection, and phase is trained with eigenmatrix
The reference model answered, grader carry out Classification and Identification by this reference model to test set.It chooses and supports in the present embodiment
Vector machine uses cross validation that optimized parameter is arranged as C=1024 and G=2 as grader, for RBF Radial basis kernel functions.
Experiment content and result
Experiment one:Choose five different experiments persons(A,B,C,D,E)Data effect that coordinate is converted verified.First
Summarize the data that each experimenter acquires in three different locations pair, five kinds of behaviors, then reflects these data according to Euler matrivx
It is mapped to the earth reference frame, randomly selecting 70% to the data set of each experimenter is used as training set, and residue 30% is as test
Collection;With classifier training identification front and back effect is converted to compare twice.
The recognition correct rate (%) of five kinds of different behaviors to each experimenter is set out in table 1
If the data of table 1 are shown, after carrying out coordinate conversion to acceleration information, the Activity recognition rate of each experimenter's totality
It increases, the average increase rate of five experimenters is 19.86%.
Experiment two:Choose a typical user, by he it is static, walk, running, above go downstairs five kinds of behaviors in acquire plus
Speed data is stitched together, and the valid data collection of each behavior is 2.5 seconds.As shown in figure 3, Z axis accelerates the number of degrees after coordinate conversion
According to directly reflecting user's difference behavioral characteristic and changing rule.The data acquired when relatively on foot, user is vertical when running
The motion amplitude bigger in direction, therefore Z axis acceleration information shock range significantly increases;In upper go downstairs, human motion direction
It is with reference frame Z axis consistent or on the contrary, Z axis acceleration information value range is cut after being clear that conversion in figure 3
It changes.
In two groups of experiments, transformed 3-axis acceleration data have clearly physical meaning, can be more accurately anti-
Cellie is mirrored in the movement tendency of each axis, X, Y-axis data record user are in the horizontal direction(It is front/rear, left/right)Shifting
Dynamic, Z axis data record user is in vertical direction(Up/down)Movement.Built-in acceleration is passed to effectively reduce mobile phone orientation
The influence of sensor gathered data is significantly improved to the Activity recognition accuracy of cellie.
Claims (3)
- It is converted from mobile phone coordinate system 1. the present invention is a kind of 3-axis acceleration data acquiring mobile phone built-in acceleration sensor To the processing method of the earth reference frame, which is characterized in that the earth reference frame in this patent is to be based on normal orthogonal Base, and it is totally independent of mobile phone coordinate system;The ground of X-direction tangent mobile phone present position, directs at east;Y direction It is equally tangential to the ground and is directed toward magnetic north pole;Z-direction then points into the sky perpendicular to ground;And determination and the hand of mobile phone coordinate system Machine screen is related;X-axis is the direction referred to the right in mobile phone screen plane, otherwise is-x;Y-axis is to refer to upwards in mobile phone screen plane Direction, perpendicular to x-axis;And z-axis is the direction referred to outward right over mobile phone screen plane.
- It is converted from mobile phone coordinate system 2. the present invention is a kind of 3-axis acceleration data acquiring mobile phone built-in acceleration sensor To the processing method of the earth reference frame, which is characterized in that the acceleration transducer and direction sensor built in mobile phone are utilized, 6 data are acquired in each sampled point, in addition to there are three angle change, respectively azimuth, pitch for 3-axis acceleration And roll;Azimuth indicates magnetic north pole and mobile phone coordinate system y-axis angle;Pitch indicates the angle of x-axis and horizontal plane, works as z-axis When being rotated to y-axis, angle is positive value;The value range of Azimuth and Pitch is;Roll indicates y-axis and water The angle of plane, when x-axis is moved to z-axis, angle is positive value, its value range is。
- It is converted from mobile phone coordinate system 3. the present invention is a kind of 3-axis acceleration data acquiring mobile phone built-in acceleration sensor To the processing method of the earth reference frame, which is characterized in that Eulerian angles can be used for describing arbitrary rotation, for any reference System, the orientation of a rigid body can be converted according to rotational order;Use for reference this thought and rigid body coordinate system and reference Mutual conversion method between coordinate system, the 3-axis acceleration data that can be calculated under reference frame are:Wherein R indicates the spin matrix that description rigid body is orientated, i.e. the mapping method from mobile phone coordinate system to reference frame, R by Three basic spin matrixs are combined, and variable a, p, r indicate azimuth, pitch and roll respectively.
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| CN114818952A (en) * | 2022-05-07 | 2022-07-29 | 南开大学 | Intelligent falling posture classification and identification method based on mobile phone sensor |
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