CN109238301A - A kind of step-recording method based on mobile phone acceleration and gyro sensor - Google Patents
A kind of step-recording method based on mobile phone acceleration and gyro sensor Download PDFInfo
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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
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Abstract
The invention discloses a kind of step-recording method based on mobile phone acceleration and gyro sensor, comprising: step 1, acquire user mobile phone acceleration and angular speed data, calculate resultant acceleration and close angle velocity amplitude, close angle velocity amplitude is stored in array al；Step 2, pairing acceleration amplitude carries out median filtering；Step 3, time point when resultant acceleration amplitude being greater than upper threshold value is recorded as t1, and time point when less than lower threshold value is recorded as t2, judges whether there is the doubtful resultant acceleration curve taken a step according to t1, t2 and is otherwise transferred to step 1 if so, being transferred to step 4；Step 4, by the value in array al one by one compared with preset close angle threshold speed；Step 5, if value all in array al is no more than close angle threshold speed, determine to step a step this moment for user；Otherwise determine this moment for user original place operating handset, not step counting.
Description
Technical field
The present invention relates to a kind of step-recording method based on mobile phone acceleration and gyro sensor.
Background technique
Using cellphone GPS walking navigation, when by way of high building, great Shu, overline bridge bottom and other places, since GPS signal is blocked, meeting
There is the larger situation of deviations, inertial navigation method can be used at this time to assist improving positioning accuracy.I.e. in positioning accuracy
The eve being lower records latitude and longitude information at that time, and the distance and direction change that then each step generates are converted into
Latitude variation, to obtain the higher location information of precision.The main contents of walking inertial navigation include: step counting algorithm, step-length
Estimation and course algorithm.Present invention is generally directed to deficiencies existing for existing step counting algorithm, comprehensively utilize mobile phone acceleration sensor
And gyro sensor, realize enhances original place anti-interference ability under the premise of not influencing step counting precision.
General step counting algorithm is the resultant acceleration amplitude curve that is obtained using mobile phone acceleration sensor to determine at present
The advantages of whether user takes a step, the algorithm is to can reach very high step counting precision when small calculation amount, walking.But since original place is lifted
It rises, the resultant acceleration curve of the resultant acceleration amplitude curve that the movements such as shake, double swerve mobile phone generate up and down and generation of taking a step
Extremely similar, only relying on resultant acceleration amplitude curve can not judge that user is in walking or in situ operating handset.For upper
State the movement of original place operating handset, the False Rate of general step counting algorithm is close to 100%.
Summary of the invention
For the deficiency of general step counting algorithm, the invention discloses a kind of based on mobile phone acceleration and gyro sensor
Step-recording method includes the following steps:
Step 1, with 100Hz frequency collection user mobile phone acceleration and angular speed data, resultant acceleration and close angle speed are calculated
Amplitude is spent, and close angle velocity amplitude is stored in array al；
Step 2, pairing acceleration amplitude carries out median filtering；
Step 3, time point when resultant acceleration amplitude being greater than upper threshold value is recorded as t1, time point when less than lower threshold value
It is recorded as t2, t1, t2 unit are ms, the doubtful resultant acceleration curve taken a step is judged whether there is according to t1, t2, if so,
It is transferred to step 4, is otherwise transferred to step 1；
Step 4, by the value in array al one by one compared with preset close angle threshold speed；
Step 5, if value all in array al is no more than close angle threshold speed, determine to step one this moment for user
Step resets t1, t2, al, is transferred to step 1 after the delay t3 time (general value is 330ms)；Otherwise determine this moment former for user
T1, t2, al are reset, are transferred to step 1 by ground operating handset, not step counting.
Step 1 includes the following steps:
Step 1-1: with 100Hz frequency collection user mobile phone acceleration and angular speed data, the acceleration transducer of mobile phone
That obtain is the acceleration in three axis direction of mobile phone x, y, z, respectively xa、ya、za；Gyro sensor obtain be around x,
Y, the angular speed of tri- axis of z rotation, respectively xg、yg、zg, resultant acceleration amplitude isClose angle velocity amplitude isIn the array al for being 30 by close angle velocity amplitude deposit length；
Step 1-2: when gyro sensor just starts sampling, data amount check is less than 30 in array al, the conjunction that will newly obtain
Angular speed amplitude is stored according to al [0]~al [29] sequence, and al [0] is first position in array a1；Data in array al
After number reaches 30, leftmost data al [0] is first deleted, and remainder data is moved to left 1, then by the close angle newly obtained speed
It spends in amplitude deposit al [29]；Purpose is the close angle velocity amplitude before saving current time in 300ms.
In step 1, the registerListener of SensorManager object is used in onResume event
(para1, para2, para3) method Register Sensor monitor, wherein parameter para1 is context, and parameter para2 is sensing
Device, parameter para3 are sampling interval (unit ns).Since sample frequency is 100Hz, para3 value 10000.
Step 2 includes: to need due to being doped with a large amount of impulsive noises in acceleration sensor outputs signals with 3 for window
Length pairing acceleration amplitude carries out median filtering, i.e., by the resultant acceleration amplitude newly obtained and the preceding resultant acceleration obtained twice
Amplitude takes median as current resultant acceleration amplitude, according to sorting from small to large to filter out impulsive noise.
Step 3 includes the following steps:
Step 3-1: if current resultant acceleration amplitude is greater than upper threshold value 10.91m/s2, record current time t1；If current close
Acceleration amplitude is less than lower threshold value 8.94m/s2, record current time t2；If current resultant acceleration amplitude is between 8.94m/s2With
10.91m/s2Between, then t1, t2 are remained unchanged；
Step 3-2: if t2 subtracts the value of t1 between 25 and 300, determine that current time exists from 10.91m/s2Decline
To 8.94m/s2The doubtful resultant acceleration curve taken a step, be transferred to step 4；Otherwise it is transferred to step 1.
Close angle threshold speed value described in step 4 is 2.65rad/s, according to as follows: when holding mobile phone walking, due to mobile phone
It being held essentially constant with the relative position of body, instantaneous angular velocity of the mobile phone on three axis is smaller, after tested, close angle speed when walking
Degree amplitude is usually no more than 2, reaches maximum in zig zag, but be no more than 2.6, and original place is lifted, shake, double swerve up and down
When mobile phone, instantaneous angular velocity of the mobile phone on three axis is larger, and after tested, even in situ slight jitter mobile phone is doubtful to step
The close angle velocity amplitude peak value walked near time point all can be more than 3, and therefore, close angle threshold speed is between 2.6 and 3.
Step 5 includes the following steps:
Step 5-1: since there are sensitivity difference, acceleration transducer detects doubtful take a step between different sensors
When curve, gyro sensor can be lagged behind and detect close angle velocity amplitude peak value, the time in 50ms -300ms etc., therefore,
Close angle velocity amplitude before needing to store in array al in 300ms, as the foundation further judged, if there is the value to be more than in array al
2.65, then determine that the doubtful resultant acceleration curve taken a step detected is not step counting caused by the operating handset of user original place, by t1,
T2, al resetting, are transferred to step 1；If all values are no more than 2.65 in array al, determine that the doubtful conjunction taken a step detected adds
Rate curve is caused by user takes a step, and step counting resets t1, t2, al, is transferred to step 1 after postponing the t3 time；
Step 5-2: regardless of whether step counting, data all reset clearing in t1, t2, al: t1=0 are enabled, in t2=0, array al
Data empty.Further, since the most fast walking speed of people is no more than 180 step per minute, that is to say, that every step at least needs 333ms
Left and right, therefore the sensing data after step counting success in 330ms no longer needs to make a decision, this have the advantage that filtering clutter is dry
Overhead is also greatly reduced while disturbing.
The utility model has the advantages that
The present invention creatively joined gyroscope biography on the basis of not influencing general step counting algorithm original step counting precision
Sensor data are lifted original place, the movement such as shake, double swerve mobile phone up and down, False Rate is by original as auxiliary judgment foundation
That comes is reduced within 10% close to 100%, and algorithm robustness is made to have great promotion.
Detailed description of the invention
The present invention is done with reference to the accompanying drawings and detailed description and is further illustrated, it is of the invention above-mentioned or
Otherwise advantage will become apparent.
Fig. 1 is mobile phone x, y, z reference axis schematic diagram.
Fig. 2 is the resultant acceleration amplitude curve that 10 step of walking obtains.
Fig. 3 is the resultant acceleration amplitude curve that original place then returns to mobile phone from body side close to face.
Fig. 4 is the resultant acceleration amplitude and close angle velocity amplitude curve that 50 step of walking obtains.
Fig. 5 is the original place resultant acceleration amplitude that slight jitter mobile phone obtains up and down and close angle velocity amplitude curve.
Fig. 6 is that mobile phone is lifted the resultant acceleration amplitude then put down and close angle velocity amplitude by original place from body side
Curve.
Fig. 7 is the resultant acceleration amplitude and close angle velocity amplitude curve that original place or so weak vibrations mobile phone obtains.
Fig. 8 is improved step-recording method flow chart.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments.
The invention discloses a kind of step-recording method based on mobile phone acceleration and gyro sensor, includes the following steps:
Step 1, with 100Hz frequency collection user mobile phone acceleration and angular speed data, resultant acceleration and close angle speed are calculated
Amplitude is spent, and in the array al for being 30 by close angle velocity amplitude deposit length；
Step 2, pairing acceleration amplitude carries out median filtering, length of window 3；
Step 3, resultant acceleration amplitude is greater than 10.91m/s2When time point be recorded as t1, be less than 8.94m/s2When
Between point be recorded as t2 (t1, t2 unit are ms), if t2-t1 is between 25 and 300, then it is assumed that be it is doubtful take a step, be transferred to
Step 4, otherwise it is transferred to step 1；
Step 4, by the value in array al one by one compared with preset close angle threshold speed (2.65rad/s)；
Step 5, if value all in array al is no more than 2.65, determine to step a step this moment for user, by t1,
T2, al are reset, and are transferred to step 1 after 330ms；Otherwise determine this moment for user original place operating handset, not step counting, by t1, t2, al weight
It sets, is transferred to step 1.
Relevant two kinds of sensors are simply introduced first.Acceleration transducer is identical with the coordinate system of gyro sensor,
It is all using screen lower left as origin, screen surface is laterally x-axis, and screen surface is longitudinally y-axis, and normal to screen is z-axis.Such as
Shown in Fig. 1.
Acceleration transducer is also known as motion sensor, and the physical quantity of measurement is the acceleration on three axis of x, y, z.Mobile phone screen
When (z-axis towards day) is horizontal positioned upwards, (xa, ya, za) value be respectively (0,0,9.8)；Downward (the z-axis court of mobile phone screen
Ground) it is horizontal positioned when, (xa, ya, za) value be respectively (0,0, -9.8)；Mobile phone screen put to the left (x-axis towards day) when
It waits, (xa, ya, za) value be respectively (9.8,0,0)；When mobile phone vertical (y-axis towards day) is upward, (xa, ya, za) value difference
For (0,9.8,0).
Gyro sensor is also known as angular-rate sensor, turns when the physical quantity of measurement is deflection, inclination along three axis of x, y, z
Dynamic angular speed.Using positive direction of the x-axis as direction of observation, mobile phone, angular speed x are rotated clockwise along x-axisgIt is positive, otherwise is negative；With y
Axis positive direction is direction of observation, rotates clockwise mobile phone, angular speed y along y-axisgIt is positive, otherwise is negative；It is to see with z-axis positive direction
Direction is examined, rotates clockwise mobile phone, angular speed z along z-axisgIt is positive, otherwise is positive.
For user in Level Walking movement, cyclically-varying can be presented in vertical and two acceleration that advance.Foot is received in walking
Movement in, since single foot contacts to earth center of gravity upwards, vertical direction acceleration be in positive increased trend, continue later to
Before, decentralization bipod bottoms out, and acceleration is opposite.Horizontal acceleration reduces when receiving foot, the increase when taking a step.If mobile phone is protected
The upward horizontal attitude of screen is held, according to the acceleration information in y-axis and z-axis it may determine that whether user takes a step.
But in practical application, mobile phone posture be it is uncertain, the acceleration that acceleration of gravity and human body generate is because of mobile phone appearance
The difference of state and different degrees of influence is generated to the acceleration information on three axis.Therefore, with the resultant acceleration amplitude of three axis It takes a step as user according to more reasonable.Further, since acceleration sensor accuracy has
Limit need to carry out median filtering with 3 for length of window pairing acceleration amplitude, the resultant acceleration amplitude newly obtained is obtained twice with preceding
The resultant acceleration amplitude sequence obtained, takes median as current resultant acceleration amplitude, to filter out impulsive noise.
The resultant acceleration amplitude curve feature generated when user's walking is quite obvious, and the corresponding class of each step is sinusoidal bent
Line, as shown in Figure 2.Therefore, the basic ideas of general step counting algorithm are: if occurring under being dropped to by upper threshold value within a certain period of time
The curve of threshold value is then denoted as 1 step.As long as upper lower threshold value and time interval value are proper, the major part in walking can be removed
Interference, obtains more accurate step number.
Known to experimental data table 1 (table 1 is acceleration amplitude wave crest, valley value under various leg speeds), upper threshold value is taken
10.91, when lower threshold value takes 8.94, step counting effect is preferable.Since the most fast walking speed of people is no more than 180 step per minute,
Time interval can use 330ms, that is, is denoted as the data after 1 step in 330ms and does not consider.This have the advantage that filtering clutter is dry
Overhead is also greatly reduced while disturbing.
Table 1
| Wave crest maximum value | Wave crest minimum value | Trough maximum value | Trough minimum value | |
| Slowly walk | 13.67 | 11.11 | 8.61 | 6.93 |
| Normally walk | 15.37 | 12.18 | 8.35 | 5.76 |
| It skelps | 15.33 | 12.08 | 8.08 | 5.64 |
| Slowly walk | 13.96 | 10.96 | 8.83 | 7.87 |
| Normally walk | 13.37 | 11.47 | 8.99 | 6.75 |
| It skelps | 14.30 | 12.13 | 8.83 | 6.79 |
Although general step counting algorithm step counting accuracy rate in gait processes is quite high, in situ when anti-interference ability too
Difference.Because in navigation procedure, user might have the case where halting operating handset.Original place lifts, shakes up and down, left and right is shaken
Start the movements such as machine generation resultant acceleration amplitude curve and take a step generate resultant acceleration curve it is extremely similar, along with accelerate
The factors such as sensor accuracy is not high, mobile phone posture is uncertain are spent, only relying on acceleration transducer can not judge that user is in walking
Or in situ operating handset, as shown in Figure 3.Movement for above-mentioned original place operating handset, the False Rate of general step counting algorithm
Close to 100%, need to be improved.Key of the invention is to joined the data of gyro sensor as further judging
Foundation.
When walking navigation, since the relative position of mobile phone and body is held essentially constant, mobile phone is instantaneous on three axis of x, y, z
Angular speed is all smaller；And original place lift, up and down shake, double swerve mobile phone when, mobile phone has larger rotation, so as to cause x, y,
There is larger fluctuation in instantaneous angular velocity on a certain axis of tri- axis of z.Therefore, it may be considered that using the size of mobile phone instantaneous angular velocity come area
It point takes a step and the movement of original place operating handset, and the instantaneous angular velocity data of mobile phone can be obtained by gyro sensor.Due to mobile phone
Posture is uncertain, and the movement of same original place operating handset can generate biggish angle speed due to mobile phone posture is different on different axis
Degree, so similarly with resultant acceleration amplitude, with the close angle velocity amplitude of three axis Make
It is more reasonable for judgment basis.
After tested, the close angle velocity amplitude of mobile phone is usually no more than 2 when walking, reaches maximum in zig zag, but do not surpass
2.6 are crossed, as shown in figure 4, Fig. 4 is the resultant acceleration amplitude (curve of top in Fig. 4) and close angle velocity amplitude that 50 step of walking obtains
It is worth curve (curve of lower section in Fig. 4).
And it the in situ slight jitter of mobile phone, double swerve, lifts when putting down, the close angle speed near doubtful time point of taking a step
Spending magnitude peak all can be more than 3, as shown in Fig. 5,6,7.Fig. 5 is the original place resultant acceleration amplitude that slight jitter mobile phone obtains up and down
(curve of top in Fig. 5) and close angle velocity amplitude (curve of lower section in Fig. 5) curve.Fig. 6 be original place by mobile phone from body one
Lift the resultant acceleration amplitude (curve of top in Fig. 6) then put down and the close angle velocity amplitude (song below in Fig. 6 in side
Line) curve.Fig. 7 is the resultant acceleration amplitude (curve of top in Fig. 7) and close angle speed that original place or so weak vibrations mobile phone obtains
Spend amplitude (curve of lower section in Fig. 7) curve.
Therefore, it takes close angle threshold speed between 2.6 and 3, can effectively distinguish the movement taken a step with original place operating handset.
Since, there are sensitivity difference, when acceleration transducer detects the doubtful curve taken a step, meeting is stagnant between sensor
Close angle velocity amplitude peak value is detected in gyro sensor afterwards, and the time is in 50ms -300ms etc..According to test result,
On the basis of general step counting algorithm, it is as follows to do improvement: the angular speed amplitude data before preservation current time in real time in 300ms,
When detecting the doubtful resultant acceleration curve taken a step, the close angle velocity amplitude before the moment in 300ms is checked, if having any one
A value is more than close angle threshold speed (such as 2.65), then regards the movement as original place operating handset, not step counting；If all values do not surpass
Close angle threshold speed is crossed, then regards the movement to take a step, step counting.Improved step counting algorithm flow is as shown in Figure 8.Platform:
Android phone platform；Tool software: Android Studio；
To the test result of major parameter and its analysis when system software actual motion:
1,100 step of walking: general step counting algorithm step counting accuracy rate is 98%, and improved step counting algorithm step counting accuracy rate is
98%；
2, original place is shaken mobile phone 20 times up and down: general step counting algorithm False Rate is 100%, improved step counting algorithm erroneous judgement
Rate is 0%；
3, original place lifts, puts down mobile phone 20 times: general step counting algorithm False Rate is 100%, and improved step counting algorithm misses
Sentencing rate is 5%；
4, original place double swerve mobile phone 20 times: general step counting algorithm False Rate is 95%, improved step counting algorithm erroneous judgement
Rate is 0%；
The present invention provides a kind of step-recording method based on mobile phone acceleration and gyro sensor, implements the technology
There are many method and approach of scheme, the above is only a preferred embodiment of the present invention, it is noted that for the art
Those of ordinary skill for, various improvements and modifications may be made without departing from the principle of the present invention, these change
It also should be regarded as protection scope of the present invention into retouching.The available prior art of each component part being not known in the present embodiment adds
To realize.
Claims (6)
1. a kind of step-recording method based on mobile phone acceleration and gyro sensor, which comprises the steps of:
Step 1, user mobile phone acceleration and angular speed data are acquired, calculate resultant acceleration and close angle velocity amplitude, and by close angle
Velocity amplitude is stored in array al；
Step 2, pairing acceleration amplitude carries out median filtering；
Step 3, time point when resultant acceleration amplitude being greater than upper threshold value is recorded as t1, time point record when less than lower threshold value
For t2, t1, t2 unit are ms, the doubtful resultant acceleration curve taken a step are judged whether there is according to t1, t2, if so, being transferred to
Step 4, otherwise it is transferred to step 1；
Step 4, by the value in array al one by one compared with preset close angle threshold speed；
Step 5, if value all in array al is no more than close angle threshold speed, determine to step a step this moment for user,
T1, t2, al are reset, are transferred to step 1 after postponing the t3 time；Otherwise determine this moment to be user original place operating handset, not step counting will
T1, t2, al resetting, are transferred to step 1.
2. the method according to claim 1, wherein step 1 includes the following steps:
Step 1-1: with 100Hz frequency collection user mobile phone acceleration and angular speed data, the acceleration transducer of mobile phone is obtained
Be the acceleration in three axis direction of mobile phone x, y, z, respectively xa、ya、za；What gyro sensor obtained is around x, y, z three
The angular speed of axis rotation, respectively xg、yg、zg, resultant acceleration amplitude isClose angle velocity amplitude isIn the array al for being 30 by close angle velocity amplitude deposit length；
Step 1-2: when gyro sensor just starts sampling, data amount check is less than 30 in array al, by the close angle newly obtained speed
It spends amplitude to be stored according to al [0]~al [29] sequence, al [0] is first position in array a1；Data amount check in array al
After reaching 30, leftmost data al [0] is first deleted, and remainder data is moved to left 1, the close angle velocity amplitude that then will newly obtain
In value deposit al [29]；Purpose is the close angle velocity amplitude before saving current time in 300ms.
3. according to the method described in claim 2, it is characterized in that, it is length of window to resultant acceleration width that step 2, which includes: with 3,
Value carries out median filtering, i.e., by the resultant acceleration amplitude newly obtained and the preceding resultant acceleration amplitude obtained twice according to from small to large
Sequence, takes median as current resultant acceleration amplitude.
4. according to the method described in claim 3, it is characterized in that, step 3 includes the following steps:
Step 3-1: if current resultant acceleration amplitude is greater than upper threshold value 10.91m/s2, record current time t1；If current close accelerates
It spends amplitude and is less than lower threshold value 8.94m/s2, record current time t2；If current resultant acceleration amplitude is between 8.94m/s2With
10.91m/s2Between, then t1, t2 are remained unchanged；
Step 3-2: if t2 subtracts the value of t1 between 25 and 300, determine that current time exists from 10.91m/s2Drop to
8.94m/s2The doubtful resultant acceleration curve taken a step, be transferred to step 4；Otherwise it is transferred to step 1.
5. according to the method described in claim 4, it is characterized in that, close angle threshold speed value described in step 4 is
2.65rad/s。
6. according to the method described in claim 5, it is characterized in that, step 5 includes the following steps:
Step 5-1: if having value in array al is more than close angle threshold speed, determine that the doubtful resultant acceleration taken a step detected is bent
Line is not step counting caused by the operating handset of user original place, and t1, t2, al are reset, step 1 is transferred to；If all values are not in array al
More than close angle threshold speed, then determine that the doubtful resultant acceleration curve taken a step detected is step counting caused by user takes a step, it will
T1, t2, al resetting, are transferred to step 1 after postponing the t3 time；
Step 5-2: regardless of whether step counting, data all reset clearing in t1, t2, al: enabling t1=0, data in t2=0, array al
It empties.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112237427A (en) * | 2020-10-14 | 2021-01-19 | 北京爱笔科技有限公司 | Method and device for detecting steps, detection equipment and computer storage medium |
| CN112237426A (en) * | 2020-10-14 | 2021-01-19 | 北京爱笔科技有限公司 | Method and device for detecting steps, detection equipment and computer storage medium |
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