CN109238279A - A kind of trolley fusion and positioning method based on Gait Recognition - Google Patents
A kind of trolley fusion and positioning method based on Gait Recognition Download PDFInfo
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- CN109238279A CN109238279A CN201811136605.8A CN201811136605A CN109238279A CN 109238279 A CN109238279 A CN 109238279A CN 201811136605 A CN201811136605 A CN 201811136605A CN 109238279 A CN109238279 A CN 109238279A
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- trolley
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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 present invention provides a kind of trolley fusion and positioning method based on Gait Recognition, comprising: when label can not obtain absolute location information, obtains the sensing data of Inertial Measurement Unit；Label obtains direction of motion variation and change in displacement according to the sensing data of Inertial Measurement Unit, and calculates the location information itself being presently in.The present invention solves the positioning problem of the trolley under quotient's hyperenvironment indoors, WiFi can not be received in trolley, when absolute location information provided by other positioning means such as bluetooth and UWB, fusion treatment is carried out using the data and absolute location information of Inertial Measurement Unit acquisition, solve the problems, such as that intermittence is without location information in a short time, it ensure that the duration and availability of location information service, on the one hand it ensure that the user experience of customer, on the other hand the integrality of location information data is greatly improved, businessman can carry out more complete more accurately analysis to the buying behavior of customer；Have the advantages that high availability, stability are good simultaneously.
Description
Technical field
The invention belongs to the technical fields of indoor positioning more particularly to a kind of trolley based on Gait Recognition to merge positioning
Method.
Background technique
As rapid growth, more and more services and application need support positioning and obtain position Internet of Things on a large scale
Information, preferably to utilize location information to be worth and to improve user experience.Especially under the indoor environment that large-scale quotient surpasses, care for
The positioning service demand of visitor itself is increasingly strong.It on the one hand is cared for since the current large-scale super internal structure of quotient is complicated, commodity are various
Objective location navigation, search commodity are time-consuming and laborious；Another aspect businessman obtains the location information data of customer, can be to the purchase of customer
It buys that behavior is for statistical analysis, provides data supporting for following forecast and decision.
Since signal is weak indoors is not available seriously for GPS positioning, existing indoor positioning more rely on RFID,
The means such as Bluetooth, WiFi and inertial navigation.But in practical applications, since radio signal is easy by environmental disturbances, often
It will lead to unreachable, the i.e. appearance " dead space ", so that user is within the of short duration time in the positioning signal of some spatial position
Real-time update it can not obtain location information in the area.
Have benefited from the development of MEMS technology, at present MEMS Inertial Measurement Unit have by outside environmental elements interfere it is small, at
The advantages that this is low and small in size, so that the technology is widely studied and applied.But single Inertial Measurement Unit is long-term
It will appear serious accumulated error and drift in position fixing process, final position caused to deviate completely, lose positioning meaning.And
Although it is absolute position that Bluetooth, WiFi positioning etc. calculates the location information obtained every time, accumulated error is not present.But
Vulnerable to interference, lossing signal.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of trolley fusion and positioning method based on Gait Recognition.For
To some aspects of the embodiment of disclosure there is a basic understanding, simple summary is shown below.The summarized section is not
It is extensive overview, nor to determine key/critical component or describe the protection scope of these embodiments.Its sole purpose
It is that some concepts are presented with simple form, in this, as the preamble of following detailed description.
The present invention adopts the following technical scheme:
In some alternative embodiments, a kind of trolley fusion and positioning method based on Gait Recognition is provided, comprising: when
When label can not obtain absolute location information, the sensing data of Inertial Measurement Unit is obtained；The label is according to the inertia
The sensing data of measuring unit obtains direction of motion variation and change in displacement, and calculates the position letter itself being presently in
Breath.
In some alternative embodiments, direction of motion variation is obtained according to the sensing data of the Inertial Measurement Unit
Process include: that the label obtains the first moment trolley and horizontally rotates angular speed；The first moment trolley level turns
Dynamic angular speed obtains the trolley level angle angular speed at filtered first moment through sliding mean filter；Calculate out position
Trolley angle variable quantity after update in the second moment；The boat at a upper location updating moment was obtained in conjunction with historical position information
To angle, the trolley course at the second moment of current location is extrapolated.
In some alternative embodiments, the mistake of change in displacement is obtained according to the sensing data of the Inertial Measurement Unit
Journey includes: that the label obtains the first moment trolley horizontal direction acceleration information；It takes when previous complete position location
Horizontal direction acceleration information sequence in update cycle carries out FFT transform, and recording frequency and maximum value, the frequency are fingerbreadth
It is worth frequency corresponding to highest, the maximum value refers to when the horizontal direction in the previous complete position location update cycle accelerates
Spend data sequence maximum value；According to the frequency of gait feature displacement model and record, maximum value, obtains current location and update week
The change in displacement of phase.
In some alternative embodiments, before this method further include: judge the label for the first time after electrifying startup, if
Successfully complete absolute fix process for the first time；If successfully completing absolute fix process for the first time, then according to absolute fix success
Acquired location information carries out the self study of gait feature model parameter, to obtain the gait feature displacement model；If
It is absolute fix procedure failure for the first time, then repeatedly absolute fix process, until successfully completing absolute fix process for the first time.
In some alternative embodiments, the process for obtaining the gait feature displacement model includes:
The gait feature displacement model are as follows: sj=α fa+βamax+ γ, wherein α, beta, gamma are related coefficient undetermined；
The wheelbarrow position coordinate that m absolute fix of note successfully obtains are as follows: Pn(xn,yn), n=1,2,3 ..., m, wherein m
≥4；
Label i moment trolley horizontal direction acceleration is denoted as axi,ayi, then enableTake primary positioning
Location updating cycle TpInterior aiSequence carries out FFT transform, and enabling frequency corresponding to amplitude highest is fa, amaxFor when previous complete
Whole position location update cycle TpInterior aiSequence maximum value；
Then α can be completed by following formula with least square method, β, γ calibration:
Wherein,
In some alternative embodiments, a kind of trolley fusion and positioning method based on Gait Recognition, is also wrapped
It includes: in trolley moving process, judging whether the label successfully completes absolute fix process and obtain what server issued
Location information；If success, then the location information of current trolley is presented in user terminal on map.
In some alternative embodiments, the absolute fix process refers to that the label utilizes Absolutely orientation technology
Obtain location information；The Absolutely orientation technology include: the location technology based on WiFi, the location technology based on bluetooth and
Location technology based on UWB.
The utility model has the advantages that the present invention solves the positioning hardly possible of the trolley under quotient's hyperenvironment indoors brought by of the invention
Topic, when trolley can not receive absolute location information provided by other positioning means such as WiFi, bluetooth and UWB, using used
Property measuring unit acquisition data and absolute location information carry out fusion treatment, solve in a short time intermittence without location information
Problem, ensure that the duration and availability of location information service, on the one hand ensure that the user experience of customer, on the other hand
The integrality of location information data is greatly improved, businessman can carry out more complete more accurately analysis to the buying behavior of customer；
Have the advantages that high availability, stability are good simultaneously.
For the above and related purposes, one or more embodiments include being particularly described below and in claim
In the feature that particularly points out.Certain illustrative aspects are described in detail in the following description and the annexed drawings, and its instruction is only
Some modes in the utilizable various modes of the principle of each embodiment.Other benefits and novel features will be under
The detailed description in face is considered in conjunction with the accompanying and becomes obvious, the disclosed embodiments be all such aspects to be included and they
Be equal.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the trolley fusion and positioning method based on Gait Recognition of the present invention；
Fig. 2 is the schematic diagram of trolley fusion positioning system.
Specific embodiment
The following description and drawings fully show specific embodiments of the present invention, to enable those skilled in the art to
Practice them.Other embodiments may include structure, logic, it is electrical, process and other change.Embodiment
Only represent possible variation.Unless explicitly requested, otherwise individual components and functionality is optional, and the sequence operated can be with
Variation.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.This hair
The range of bright embodiment includes equivalent obtained by the entire scope of claims and all of claims
Object.
As shown in Fig. 2, trolley fusion positioning system includes: that label 1, Inertial Measurement Unit 2, server 3 and user are whole
End 4.
Label 1 is placed in trolley front end, for completing Absolutely orientation work, while in real time to Inertial Measurement Unit
Data information do resolving processing.
Inertial Measurement Unit 2, is integrated in inside tags, using MEMS device, for realizing to acceleration, angular velocity signal
Acquisition.
Server 3 positions label 1 for realizing resolving, while issuing location information to label 1 after resolving successfully.
User terminal 4 is placed at the top of trolley, for current location information to be presented to by user.
As shown in Figure 1, the present invention provides a kind of trolley fusion and positioning method based on Gait Recognition, comprising:
101: trolley, which merges positioning system power-on self-test, completes initialization.
102: judging label for the first time after electrifying startup, if successfully complete absolute fix process for the first time.If for the first time
Absolute fix procedure failure, then repeatedly absolute fix process, until successfully completing absolute fix process for the first time.
Label after electrifying startup, waits label absolute fix success for the first time, and wherein the position location update cycle is Tp。
103: if successfully completing absolute fix process for the first time, then according to location information acquired in absolute fix success
The self study for carrying out gait feature model parameter, to obtain gait feature displacement model.
Wherein, the process of acquisition gait feature displacement model includes:
Gait feature displacement model are as follows: sj=α fa+βamax+ γ, wherein α, beta, gamma are related coefficient undetermined；
The wheelbarrow position coordinate that m absolute fix of note successfully obtains are as follows: Pn(xn,yn), n=1,2,3 ..., m, wherein m
≥4；
Label i moment trolley horizontal direction acceleration is denoted as axi,ayi, then enableTake primary positioning
Location updating cycle TpInterior aiSequence carries out FFT transform, and enabling frequency corresponding to amplitude highest is fa, amaxFor when previous complete
Whole position location update cycle TpInterior aiSequence maximum value, aiSequence is that horizontal direction accelerates degree series；
Then α can be completed by following formula with least square method, β, γ calibration:
Wherein,
The i moment is the citing to a certain moment, and a certain moment in the process is known as the i moment, convenient for carrying out to process
Illustrate, for example, needing to acquire the trolley horizontal direction in multiple moment during obtaining gait feature displacement model and adding
Speed, i moment are a certain moment acquired in data procedures, and therefore, the i moment is not specifically limited.
104: Inertial Measurement Unit real-time data collection.
105: in trolley moving process, judging whether label successfully completes absolute fix process and obtain under server
The location information of hair.If success, then carry out step 111, if failure, step 106 is carried out.
106: when label can not obtain absolute location information, obtaining the sensing data of Inertial Measurement Unit.
107: label obtains direction of motion variation according to the sensing data of Inertial Measurement Unit.
Sensing data according to institute's Inertial Measurement Unit obtains the process that the direction of motion changes
Firstly, label obtains gyro data, i.e. label obtains the first moment, i.e. i moment, and trolley horizontally rotates angle speed
Spend ωi。
Then, i moment trolley horizontally rotates angular velocity omegaiIt is slided mean filter and obtains the filtered i moment
Trolley level angle angular velocity omegai', wherein
In above formula, N is sliding mean filter order, and sliding mean filter can realize sliding average value filtering, first exist
A data buffer zone is established in RAM, stores N number of sampled data in order, as soon as it often adopts into a new data, by what is acquired earliest
That data is lost, and the arithmetic mean of instantaneous value or weighted average of N number of data including new data are then asked.
Secondly, the second moment after the update of calculating position, i.e., the trolley angle variable quantity θ in the j momentj, wherein
In above formula, TωFor the gyroscope sampling period.
Finally, obtaining the course angle ψ of upper location updating moment j-1 in conjunction with historical position informationj-1, extrapolate current
The trolley course ψ at location updating j momentj, wherein
ψj=ψj-1+θj。
I moment, i.e. the first moment and j moment, i.e. the second moment will in the process only to the citing at a certain moment
The a certain moment is known as i moment, j moment, convenient for being illustrated to process, for example, needing during obtaining direction of motion variation
It acquires after trolley horizontally rotates angular speed and location updating and needs to obtain trolley angle variable quantity, i moment, j moment
The citing of a certain moment in direction of motion variation is only obtained, therefore, is not specifically limited.
108: label obtains change in displacement according to the sensing data of Inertial Measurement Unit, and detailed process includes:
Firstly, label obtains the first moment, i.e. i moment, trolley horizontal direction acceleration information axi,ayi。
Then, it takes as previous complete position location update cycle TpInterior aiSequence carries out FFT transform, recording frequency
faAnd maximum value amax, faFrequency corresponding to fingerbreadth value highest, amaxRefer to and works as previous complete position location update cycle TpInterior
aiSequence maximum value, aiSequence is horizontal direction acceleration information sequence.
Finally, according to gait feature displacement model and the frequency f of recorda, maximum value amax, obtain present bit
The change in displacement of update cycle is set, then current position location update cycle TpChange in displacement are as follows:
sj=α fa+βamax+γ。
109: label changes according to the direction of motion and change in displacement calculates the location information P itself being presently inj(xj,
yj), wherein
110: server issues location information.
111: the location information of current trolley is presented in user terminal on map.
Absolute fix process refers to that label obtains location information using Absolutely orientation technology；Absolutely orientation technology
It include: the location technology based on WiFi, the location technology based on bluetooth and the location technology based on UWB.
It should also be appreciated by one skilled in the art that various illustrative logical boxs, mould in conjunction with the embodiments herein description
Electronic hardware, computer software or combinations thereof may be implemented into block, circuit and algorithm steps.In order to clearly demonstrate hardware and
Interchangeability between software surrounds its function to various illustrative components, frame, module, circuit and step above and carries out
It is generally described.Hardware is implemented as this function and is also implemented as software, depends on specific application and to entire
The design constraint that system is applied.Those skilled in the art can be directed to each specific application, be realized in a manner of flexible
Described function, still, this realization decision should not be construed as a departure from the scope of protection of this disclosure.
Claims (7)
1. a kind of trolley fusion and positioning method based on Gait Recognition characterized by comprising
When label can not obtain absolute location information, the sensing data of Inertial Measurement Unit is obtained；
The label obtains direction of motion variation and change in displacement according to the sensing data of the Inertial Measurement Unit, and calculates
The location information itself being presently in out.
2. a kind of trolley fusion and positioning method based on Gait Recognition according to claim 1, which is characterized in that foundation
The sensing data of the Inertial Measurement Unit obtains the process that the direction of motion changes
The label obtains the first moment trolley and horizontally rotates angular speed；
The first moment trolley horizontally rotates the hand that angular speed obtains filtered first moment through sliding mean filter
Cart level angle angular speed；
Calculate the trolley angle variable quantity after location updating in the second moment；
The course angle that a upper location updating moment was obtained in conjunction with historical position information, extrapolates the hand at the second moment of current location
Cart course.
3. a kind of trolley fusion and positioning method based on Gait Recognition according to claim 2, which is characterized in that foundation
The process that the sensing data of the Inertial Measurement Unit obtains change in displacement includes:
The label obtains the first moment trolley horizontal direction acceleration information；
It takes when the horizontal direction acceleration information sequence in the previous complete position location update cycle carries out FFT transform, note
Frequency and maximum value are recorded, the frequency refers to that frequency corresponding to amplitude highest, the maximum value refer to when previous complete fixed
Horizontal direction acceleration information sequence maximum value in the location updating period of position；
According to the frequency of gait feature displacement model and record, maximum value, the change in displacement of current location update cycle is obtained.
4. a kind of trolley fusion and positioning method based on Gait Recognition according to claim 1 or 3, which is characterized in that
Before this method further include:
Judge the label for the first time after electrifying startup, if to successfully complete absolute fix process for the first time；
If successfully completing absolute fix process for the first time, then the location information acquired according to absolute fix success carries out gait
The self study of characteristic model parameter, to obtain the gait feature displacement model；
If absolute fix procedure failure for the first time, then repeatedly absolute fix process, until successfully completing absolute fix for the first time
Process.
5. a kind of trolley fusion and positioning method based on Gait Recognition according to claim 4, which is characterized in that obtain
The process of the gait feature displacement model includes:
The gait feature displacement model are as follows: sj=α fa+βamax+ γ, wherein α, beta, gamma are related coefficient undetermined；
The wheelbarrow position coordinate that m absolute fix of note successfully obtains are as follows: Pn(xn,yn), n=1,2,3 ..., m, wherein m >=4；
Label i moment trolley horizontal direction acceleration is denoted as axi,ayi, then enableTake a position location
Update cycle TpInterior aiSequence carries out FFT transform, and enabling frequency corresponding to amplitude highest is fa, amaxFor when previous complete
Position location update cycle TpInterior aiSequence maximum value；
Then α can be completed by following formula with least square method, β, γ calibration:
Wherein,
6. a kind of trolley fusion and positioning method based on Gait Recognition according to claim 4 or 5, which is characterized in that
Further include:
In trolley moving process, judge whether the label successfully completes absolute fix process and obtain what server issued
Location information；
If success, then the location information of current trolley is presented in user terminal on map.
7. a kind of trolley fusion and positioning method based on Gait Recognition according to claim 6, which is characterized in that described
Absolute fix process refers to that the label obtains location information using Absolutely orientation technology；The Absolutely orientation technology
It include: the location technology based on WiFi, the location technology based on bluetooth and the location technology based on UWB.
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Application publication date: 20190118 |