CN109521226B - Speed calculation method, system, electronic equipment and readable storage medium - Google Patents
Speed calculation method, system, electronic equipment and readable storage medium Download PDFInfo
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Abstract
The application discloses a speed calculation method, which includes the steps of firstly determining which time windows belong to motion windows according to the magnitude of acceleration, enabling each motion window not to obtain acceleration data based on the same acceleration datum (namely a '0' datum) but to obtain a datum corrected acceleration according to the actual acceleration datum of each motion window by taking the acceleration mean value of each motion window as the actual acceleration datum of the corresponding motion window on the basis of determining the motion windows, and effectively reducing the problem that the acceleration datum is changed due to accumulated errors in the continuous measurement process, so that the precision of the acceleration used for calculating the speed is improved, the precision of the finally calculated speed is improved, and the method is applicable to wider actual application scenes. The application also discloses a speed calculation system, electronic equipment and a computer readable storage medium, which have the beneficial effects.
Description
Technical Field
The present disclosure relates to the field of acceleration data processing technologies, and in particular, to a speed calculation method, a speed calculation system, an electronic device, and a computer-readable storage medium.
Background
With the development of electronic information technology, people put forward higher requirements on the measurement accuracy of some common parameters, and the application provides a solution for how to improve the measurement accuracy of speed.
According to the relationship between the speed and the acceleration in the mathematical formula, the result of integrating the acceleration once is the speed. However, in the acceleration data acquired by the existing acceleration sensor, influence factors such as noise data and signal offset are often doped due to the accuracy problem, so that the acceleration acquired by the acceleration sensor is not an actual acceleration, and the velocity obtained by integrating the non-actual acceleration is much larger than a true value due to an accumulated error generated in the integration process.
In order to reduce errors, the prior art often improves the measurement accuracy by aiming at the problem that the acceleration sensor measures the static state inaccurately in the motion process (namely, the acceleration measured by the acceleration sensor is integrated under the static state to obtain a speed which is not 0), and improved algorithms such as a zero-speed compensation algorithm, a multi-axis dynamic switching algorithm and the like are provided. However, such algorithms implement improvement of measurement accuracy by forcibly correcting the speed definitely belonging to the stationary state to 0 or performing certain correction compensation on the acceleration and/or the speed, and are only applicable to an actual scene with a short distance and a stationary state, but not applicable to an actual scene with a long distance or without a stationary state, and the application range is extremely limited.
Disclosure of Invention
The main purpose of the present application is to provide a speed calculation method, which aims to solve the technical defect that in the prior art, only the speed and/or the acceleration in a stationary state is corrected, and the speed and/or the acceleration in a more general motion state is neglected to be corrected, so that the finally calculated speed has higher precision and is closer to the actual speed.
Another object of the present application is to provide a speed calculation system, an electronic device, and a computer-readable storage medium.
To achieve the above object, the present application provides a velocity calculating method, including:
a method of velocity calculation, comprising:
measuring the acceleration of a target object by using an acceleration sensor to obtain a measured acceleration;
determining a motion window according to the measured acceleration; wherein the motion window is a time window in which the acceleration sensor measures acceleration when the target object is in a motion state;
calculating to obtain an acceleration mean value of the motion window, and taking the acceleration mean value as an actual acceleration reference of the motion window;
correcting the measured acceleration according to the actual acceleration reference to obtain the acceleration after reference calibration;
and calculating the speed of the motion window according to the acceleration after the reference calibration.
Optionally, determining a motion window according to the magnitude of the measured acceleration includes:
judging whether the measured acceleration exceeds a preset motion state acceleration or not;
and if so, determining the time window when the measured acceleration exceeds the motion state acceleration as the motion window.
Optionally, the speed calculation method further includes:
and judging the time window that the measured acceleration does not exceed the acceleration in the motion state as a static window, and correcting the speed of the static window to be 0 by using a zero speed compensation method.
Optionally, the calculating the mean value of the accelerations of the motion window includes:
judging whether N time windows arranged in front of the motion window are all motion windows; wherein N is a positive integer greater than or equal to 1;
if all the N time windows arranged in front of the motion window are motion windows, taking an arithmetic mean value of a plurality of accelerations contained in the motion window as an acceleration mean value of the motion window;
and if the N time windows arranged in front of the motion window are not all motion windows, taking the arithmetic mean value of the accelerations of the N time windows arranged in front of the motion window as the mean value of the accelerations of the motion window.
Optionally, after obtaining the reference calibrated acceleration and before obtaining the velocity of the motion window according to the calculation of the reference calibrated acceleration, the method further includes:
determining the number of acceleration points and the number of deceleration points in the motion window according to the magnitude relation between the acceleration after the reference calibration and a preset acceleration and deceleration threshold;
calculating the ratio of the number of acceleration points to the number of deceleration points in the motion window to obtain an actual ratio;
when the actual ratio is larger than a first preset ratio, multiplying the acceleration of the motion window after the reference calibration and the reciprocal of the actual ratio, and taking the obtained product as a new acceleration after the reference calibration;
when the actual ratio is smaller than a second preset ratio, multiplying the acceleration of the motion window after the reference calibration with the actual ratio, and taking the obtained product as a new acceleration after the reference calibration; wherein the second preset ratio is smaller than the first preset ratio.
Optionally, before measuring the acceleration of the target object by using the acceleration sensor, the method further includes:
measuring the acceleration of the target object in a static state by using the acceleration sensor to obtain an equipment error;
and carrying out equipment error removing processing on the acceleration sensor according to the equipment error.
Optionally, the measuring acceleration of the target object by using the acceleration sensor to obtain the measured acceleration includes:
measuring the acceleration of the target object by using the acceleration sensor to obtain the acceleration expressed under the user-defined space coordinate;
and converting the acceleration expressed under the self-defined space coordinate into a terrestrial coordinate system by using a transformation matrix for expression, so as to obtain the measured acceleration expressed by the terrestrial coordinate system.
To achieve the above object, the present application also provides a velocity calculating system including:
the acceleration measuring unit is used for measuring the acceleration of the target object by using the acceleration sensor to obtain the measured acceleration;
the motion window determining unit is used for determining a motion window according to the measured acceleration; wherein the motion window is a time window in which the acceleration sensor measures acceleration when the target object is in a motion state;
the actual acceleration reference calculation unit is used for calculating an acceleration mean value of the motion window and taking the acceleration mean value as an actual acceleration reference of the motion window;
the reference correction unit is used for correcting the measured acceleration according to the actual acceleration reference to obtain the acceleration after reference calibration;
and the speed calculation unit is used for calculating the speed of the motion window according to the acceleration after the reference calibration.
Optionally, the motion window determining unit includes:
the magnitude comparison subunit is used for judging whether the measured acceleration exceeds a preset motion state acceleration or not;
a motion window determination subunit configured to determine a time window in which the measured acceleration exceeds the motion state acceleration as the motion window.
Optionally, the speed calculation system further includes:
and the static window judging and modifying unit is used for judging the time window that the measured acceleration does not exceed the motion state acceleration as a static window and correcting the speed of the static window to be 0 by utilizing a zero speed compensation method.
Optionally, the actual acceleration reference calculating unit includes:
a continuous moving window judging subunit, configured to judge whether N time windows arranged before the moving window are all moving windows; wherein N is a positive integer greater than or equal to 1;
the acceleration mean value first calculating subunit is configured to, when N time windows arranged before the motion window are motion windows, take an arithmetic mean value of a plurality of accelerations included in the motion window as an acceleration mean value of the motion window;
and the acceleration mean value second calculating subunit is used for taking the arithmetic mean value of the accelerations of the N time windows arranged before the motion window as the acceleration mean value of the motion window when the N time windows arranged before the motion window are not all motion windows.
Optionally, the speed calculation system further includes:
the acceleration point and deceleration point determining unit is used for determining the acceleration point and the deceleration point in the motion window according to the magnitude relation between the acceleration after the reference calibration and a preset acceleration and deceleration threshold value after the acceleration after the reference calibration is obtained and before the speed of the motion window is obtained through calculation according to the acceleration after the reference calibration;
the actual ratio calculation unit is used for calculating the ratio between the acceleration points and the deceleration points in the motion window to obtain an actual ratio;
the acceleration process correcting unit is used for multiplying the acceleration of the motion window after the reference calibration and the reciprocal of the actual ratio when the actual ratio is larger than a first preset ratio, and taking the obtained product as a new acceleration after the reference calibration;
the deceleration process correction unit is used for multiplying the acceleration of the motion window after the reference calibration and the actual ratio when the actual ratio is smaller than a second preset ratio, and taking the obtained product as a new acceleration after the reference calibration; wherein the second preset ratio is smaller than the first preset ratio.
Optionally, the speed calculation system further includes:
the device error measuring unit is used for measuring the acceleration of the target object in a static state by using the acceleration sensor before measuring the acceleration of the target object by using the acceleration sensor to obtain a device error;
and the equipment error removing unit is used for performing equipment error removing processing on the acceleration sensor according to the equipment error.
Optionally, the acceleration measuring unit further includes:
the self-defined coordinate system expression subunit is used for measuring the acceleration of the target object by using the acceleration sensor to obtain the acceleration expressed under the self-defined space coordinate;
and the coordinate system conversion subunit is used for converting the acceleration expressed under the self-defined space coordinate into a terrestrial coordinate system by using a transformation matrix to express the acceleration, so as to obtain the measured acceleration expressed by the terrestrial coordinate system.
To achieve the above object, the present application also provides an electronic device, including:
the acceleration sensor is used for acquiring acceleration data of a target object;
a memory for storing a computer program;
a processor for implementing the speed calculation method as described above when executing the computer program.
To achieve the above object, the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the speed calculation method as described above.
Obviously, the speed calculation method provided by the application determines which time windows belong to the motion window according to the magnitude of the acceleration, and on the basis of determining the motion window, by taking the acceleration mean value of each motion window as the actual acceleration reference of the corresponding motion window, each motion window is not based on the same acceleration reference (namely, the '0' reference) to obtain the acceleration data, but calculates the reference calibrated acceleration according to the actual acceleration reference of each motion window, so that the problem of acceleration reference transformation caused by the existing accumulated error in the continuous measurement process can be effectively reduced, the precision of the acceleration used for calculating the speed is improved, the precision of the finally calculated speed is also improved, and the method is applicable to wider actual application scenes.
The application also provides a speed calculation system, an electronic device and a computer readable storage medium, which have the beneficial effects and are not described herein again.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a speed calculation method according to an embodiment of the present application;
fig. 2 is a flowchart of a method for calculating an acceleration mean of a moving window in a velocity calculation method provided in an embodiment of the present application;
fig. 3 is a flowchart of a method for respectively correcting an acceleration process and a deceleration process in a speed calculation method according to an embodiment of the present application;
FIG. 4 is a velocity profile provided by an embodiment of the present application;
FIG. 5 is a flow chart of another method for calculating velocity according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of a test result obtained when an automobile is used for testing according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of a test result obtained when a bicycle is used for testing according to an embodiment of the present application;
FIG. 8 is a block diagram of a speed calculation system according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The core of the application is to provide a speed calculation method, a system, an electronic device and a computer readable storage medium, which firstly determine which time windows belong to a motion window according to the magnitude of acceleration, and on the basis of determining the motion window, by taking the mean value of the acceleration of each motion window as the actual acceleration reference of the corresponding motion window, such that each motion window does not derive acceleration data based on the same acceleration reference (i.e. the "0" reference), the acceleration after the reference calibration is calculated according to the actual acceleration reference of each motion window, the problem of acceleration reference change caused by accumulated errors in the continuous measurement process can be effectively solved, therefore, the precision of the acceleration for calculating the speed is improved, the precision of the speed obtained through final calculation is also improved, and the method is applicable to wider practical application scenes.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example one
Referring to fig. 1, fig. 1 is a flowchart of a speed calculation method according to an embodiment of the present application, which includes the following steps:
s101: measuring the acceleration of a target object by using an acceleration sensor to obtain a measured acceleration;
this step is intended to obtain the real-time acceleration of the target object by the measurement of the acceleration sensor that moves together with the target object, and to refer to the acceleration data directly measured by the acceleration sensor as the measured acceleration, to distinguish it from other processed accelerations that follow.
The acceleration sensor can select a triaxial acceleration sensor capable of measuring the accelerations in three directions simultaneously, and can also select three uniaxial acceleration sensors capable of measuring the acceleration in one direction respectively.
Further, due to the existence of the device error, before the step, the operation of removing the device error can be performed, that is, the situation that the acceleration sensor still measures acceleration data which is not zero even in a static state due to a problem in the manufacturing process is removed.
Furthermore, the acceleration of the target object measured by the acceleration sensor is inconsistent with the actual acceleration due to the existence of the earth gravity acceleration, so that the acceleration can be expressed by transforming the acceleration to the earth coordinate system by using the transformation matrix to remove the influence caused by the earth gravity acceleration.
S102: determining a motion window according to the measured acceleration;
on the basis of S101, this step is intended to determine a motion window according to the magnitude of the measured acceleration. The motion window is a time window for measuring the acceleration of the acceleration sensor when the target object is in a motion state. Opposite to the moving window is a stationary window, i.e. a time window when the acceleration sensor measures acceleration while the target object is handling a stationary state.
It should be noted that the time window refers to a time unit of the minimum calculated speed, wherein the acceleration measured by a plurality of acceleration measurement points according to a specific setting is similar to the shooting time interval of two adjacent photos when the camera takes a continuous shot. Generally speaking, the result accuracy is improved by making the duration of the time window as short as possible, but by requiring hardware with greater computing power and providing more resources. The application does not improve the accuracy of calculating the speed according to the acceleration from the angle, but does realize how to remove some unreasonable values and errors contained in the existing speed calculation according to the acceleration.
The decisive factor for distinguishing between moving and stationary windows is the physical motion category of the object in the current window (i.e. whether it is in motion or stationary), and therefore one implementation, including but not limited to:
judging whether the measured acceleration exceeds a preset motion state acceleration or not;
and if so, determining the time window when the measured acceleration exceeds the acceleration in the motion state as the motion window.
Namely, an acceleration threshold (motion state acceleration) capable of distinguishing a motion state from a stationary state is preset, a time window exceeding the motion state acceleration is determined as a motion window, and conversely, a time window where the measured acceleration does not exceed the motion state acceleration is determined as a stationary window. For the correction method of the stationary window, the zero velocity compensation method used in the prior art can be continuously used to correct the velocity of the stationary window to 0. So as to eliminate the influence of the speed which is not zero and is calculated after the acceleration is integrated under the static state on the whole speed precision as much as possible.
The acceleration threshold may be flexibly set according to an actual application scenario, so as to distinguish between a moving state and a static state, and may be flexibly set on the basis of achieving the purpose, which is not specifically limited herein.
S103: calculating to obtain an acceleration mean value of the motion window, and taking the acceleration mean value as an actual acceleration reference of the motion window;
on the basis of S102, the present step is to calculate an acceleration mean value of the motion window, and use the acceleration mean value as an actual acceleration reference of the motion window.
The reason why the average value of the acceleration of each motion window is used as the actual acceleration reference of the corresponding motion window is that, in the prior art, all time windows use a uniform and ideal "0 reference" as the basis for obtaining the measured acceleration of the current time window, i.e. the reference is not changed by default. However, according to the research of the actual situation, the actual situation is different from the ideal state, and the acceleration reference changes due to the gradual accumulation of errors in the continuous measurement process, that is, the acceleration measured in each time window actually adopts different acceleration references, so that the measured acceleration can be closer to the actual situation. That is, how to take the change of the acceleration reference into consideration makes the obtained acceleration data closer to reality, which is a direction that can be used to improve the accuracy of velocity calculation according to the acceleration.
The application refers to the similarity between the acceleration data conversion curve and the sine wave waveform, and provides a mode of correcting the acceleration mean value of each motion window as the actual acceleration standard of the corresponding motion window. For ease of understanding, assume for example that 5 acceleration measurement points are included in a motion window, resulting in measured accelerations of 1.0, 1.1, 1.2, 1.3, and 1.4 (in m/s), respectively2And subsequently omitted), then the acceleration mean for this motion window is 1.2, according to the simplest acceleration mean calculation (addition divided by number). I.e., 1.2, will be used as the actual acceleration reference (i.e., the new "0" reference) for the motion window to measure other acceleration data. After processing, the measured acceleration under the unified original "0" reference changes to: -0.2, -0.1, 0, 0.1 and 0.2. In this way for each moving windowThe measured acceleration of the mouth is processed, so that the problem of inaccuracy caused by the change of the acceleration reference can be solved.
Furthermore, when calculating the acceleration average value of each moving window, the influence of the special condition when the static state is switched to the moving state on the calculated acceleration average value can be further considered, because if the arithmetic average value of a plurality of accelerations in the current moving window is directly used as the acceleration average value of the current moving window, there will be a very large acceleration difference compared with the previous static window, and especially when the target object is a moving person, the acceleration average value will obviously not meet the actual moving condition. Therefore, a suitable method for calculating the acceleration average value of the current motion window can be further selected according to the motion classification conditions of a plurality of time windows arranged in front of the current motion window.
This section will give a specific implementation in example two.
S104: correcting the measured acceleration according to an actual acceleration reference to obtain a reference corrected acceleration;
on the basis of S103, this step aims to correct the measured acceleration according to the actual acceleration reference, resulting in a reference calibrated acceleration. The operation of this step can be seen in the example given in S103, where-0.2, -0.1, 0, 0.1 and 0.2 will exist as the reference calibrated acceleration of the motion window.
S105: and calculating the speed of the motion window according to the acceleration after the reference calibration.
On the basis of S104, this step is intended to calculate the velocity of the corresponding motion window from the reference calibrated acceleration, specifically, the velocity is obtained after once integrating the reference calibrated acceleration, so as to obtain a closer-to-actual velocity through integration in the acceleration data after eliminating the reference error.
The term "integral operation" described in this step is a complete word, and refers to an integral operation with an integral number of 1, rather than performing an integral operation only once, which is a proper term in the field of mathematics.
Based on the above technical solution, in the velocity calculation method provided in the embodiment of the present application, it is first determined which time windows belong to the motion window according to the magnitude of the acceleration, and on the basis of determining the motion window, the acceleration average of each motion window is used as the actual acceleration reference of the corresponding motion window, so that each motion window does not obtain acceleration data based on the same acceleration reference (i.e., "0" reference), but obtains the reference calibrated acceleration according to the actual acceleration reference of each motion window, and the problem of acceleration reference change caused by the existing accumulated error in the continuous measurement process can be effectively reduced, thereby improving the accuracy of the acceleration used for calculating the velocity, that is, the accuracy of the velocity finally calculated, and being applicable to a wider actual application scenario.
Example two
Referring to fig. 2, fig. 2 is a flowchart of a method for calculating an acceleration mean value of a moving window in a speed calculation method provided in an embodiment of the present application, and this step is intended to provide a preferred method for calculating an acceleration mean value of a moving window in an embodiment S103, including the following steps:
s201: judging whether N time windows arranged in front of the moving window are all moving windows;
n is a positive integer greater than or equal to 1, and preferably, N may be specifically set to 2. I.e. to determine whether the 2 time windows arranged before the current moving window are all moving windows.
S202: taking the arithmetic mean value of a plurality of accelerations contained in the motion window as the acceleration mean value of the motion window;
this step is established on the basis that the judgment result of S201 is that N time windows arranged before the motion window are all motion windows, which indicates that there are already a plurality of consecutive time windows as motion windows, and indicates that the static window is not directly converted into a scene of the motion window, so that there is no influence on the calculation of the average value of the accelerations caused by the conversion from the static state to the motion state, and therefore, the arithmetic average value of the plurality of accelerations included in the motion window is directly used as the average value of the accelerations of the motion window.
Specifically, when N is 2, it is described that 3 consecutive time windows are motion windows. Further, if 3 time windows before the 3 motion windows are all static windows, and are numbered sequentially according to the time sequence, and are respectively 1, 2, 3, 4, 5, and 6, where 1, 2, 3 are static windows, and 4, 5, and 6 are motion windows, the motion window numbered 6 may obtain the acceleration mean value according to the calculation method of the step, and the motion windows No. 4 and No. 5 that use the same determination method will shift to the situation that S203 belongs to because the determination condition is not satisfied.
S203: and taking the arithmetic mean value of the accelerations of N time windows arranged in front of the motion window as the mean value of the accelerations of the motion window.
This step is established on the basis that the judgment result of S201 is that N time windows arranged before the motion window are not all motion windows, which indicates that the current motion window is associated with the current scene, there is not enough motion window to prove that the current scene is not a scene directly converted from the static window into the motion window, that is, the scene converted from the static window into the motion window includes direct conversion (i.e. No. 4 is relative to No. 3) and indirect conversion (i.e. No. 5 is relative to No. 3, and a 4-th interval is provided in the middle), in order to eliminate the influence of the conversion from the static state to the motion state on the calculated acceleration mean value, and the acceleration data obviously not conforming to the actual motion situation does not appear, the arithmetic mean value of the accelerations of the N time windows arranged before the motion window can be used as the acceleration mean value of the motion window. When N is 2, the average value of the accelerations of the motion window No. 4 will use the arithmetic mean value of the average values of the accelerations of the stationary window No. 2 and No. 3 as the average value of the accelerations of the self-motion window.
Compared with the first embodiment, the present embodiment aims to eliminate the influence of the transition from the static state to the moving state on the calculated average acceleration value in a corresponding manner as much as possible by additionally considering the influence, so that the acceleration of each moving window is more realistic.
EXAMPLE III
Referring to fig. 3, fig. 3 is a flowchart of a method for respectively correcting an acceleration process and a deceleration process in a speed calculation method provided in the embodiment of the present application, and this embodiment finds a place in each motion window that does not conform to an actual motion situation by studying the acceleration and deceleration processes in each motion window on the basis of the first embodiment and the second embodiment, and adopts a corresponding correction method to make the motion window closer to reality, including the following steps:
s301: correcting the measured acceleration according to an actual acceleration reference to obtain a reference corrected acceleration;
the step is the same as S104, and for the detailed explanation, reference may be made to S104, which is not described herein again.
S302: determining the number of acceleration points and the number of deceleration points in the motion window according to the magnitude relation between the acceleration after the reference calibration and a preset acceleration and deceleration threshold;
the method comprises the following steps of determining the number of acceleration points and the number of deceleration points in a motion window according to the size relation between the acceleration after reference calibration and a preset acceleration and deceleration threshold, and determining whether the corresponding motion window belongs to the motion window in the acceleration process or the motion window in the deceleration process according to the number of acceleration points and the number of deceleration points in each motion window.
The preset acceleration/deceleration threshold may use an actual acceleration reference of the current motion window, but since there are usually a large number of points near the actual acceleration reference due to a fluctuation phenomenon, in order to avoid an influence of the fluctuation points on the determination, a point may be slightly shifted on the basis of the actual acceleration reference to purposefully take out the influence of the fluctuation points, and a specific shift degree may be flexibly selected according to an actual situation, which is not specifically limited herein.
S303: calculating the ratio of the number of acceleration points to the number of deceleration points in the motion window to obtain an actual ratio;
on the basis of S302, this step aims to calculate the ratio between the number of acceleration points and the number of deceleration points in the motion window to obtain an actual ratio, and then uses the ratio between the number of acceleration points and the number of deceleration points as a place where the actual motion situation is not met in the acceleration process or the deceleration process, that is, a place where the ratio is particularly high or low. For comparison, each motion window may be further divided into a plurality of time intervals, and the actual ratio of each time interval may be determined.
S304: when the actual ratio is larger than the first preset ratio, multiplying the acceleration of the motion window after the reference calibration and the reciprocal of the actual ratio, and taking the obtained product as a new acceleration after the reference calibration;
this step is based on the fact that the actual ratio is greater than a first predetermined ratio, which is a value used to define a condition that does not match the actual acceleration condition, and if the actual ratio is greater than the first predetermined ratio, it indicates that the acceleration process in the current motion window or time interval does not match the actual acceleration condition, and when the target object is a walking person, it may indicate that an acceleration or a speed that is unlikely to occur on the human body is present, and therefore it is necessary to correct the abnormal acceleration process.
In the step, the acceleration after the reference calibration of the motion window with the problem is corrected by multiplying the reciprocal of the actual ratio by the reference calibrated acceleration, and the obtained product is used as the new reference calibrated acceleration. Since the first preset ratio is used for a defined scene, the value of the first preset ratio is mostly greater than 1, and the reciprocal of the actual ratio is correspondingly less than 1, after the acceleration after the reference calibration is multiplied by the reciprocal of the actual ratio, the acceleration after the reference calibration can be reduced to be as close to a normal value as possible.
S305: when the actual ratio is smaller than a second preset ratio, multiplying the acceleration of the motion window after the reference calibration with the actual ratio, and taking the obtained product as a new acceleration after the reference calibration;
this step is based on the fact that the actual ratio is smaller than a second predetermined ratio, which is a value used to define a situation that does not match the actual deceleration situation, and if the actual ratio is smaller than the second predetermined ratio, it indicates that the deceleration process in the current motion window or time interval does not match the actual deceleration situation, and when the target object is a walking person, it may indicate that there is a deceleration or speed that is unlikely to occur on the human body, and therefore it is necessary to correct the abnormal deceleration process.
In the step, the acceleration after the reference calibration of the motion window with the problem is corrected by multiplying the actual ratio, and the obtained product is used as the new acceleration after the reference calibration. Since the second preset ratio is used for a defined scene, the value of the second preset ratio is mostly smaller than 1 (usually about 0.2), so that after the acceleration after the reference calibration is multiplied by the actual ratio, the acceleration after the reference calibration can be reduced to be as close to a normal value as possible.
S306: and performing primary integration on the acceleration after the reference calibration to obtain the speed of the motion window.
In addition to S304 and S305, this step integrates the obtained new reference post-calibration acceleration once to obtain a closer-to-actual speed.
For ease of understanding, the present application also provides a specific example, see fig. 4:
it can be found that the time from t1 to t2 is about twice the time from t2 to t3, and when the difference of the speed changes is above 1m/s, it can be seen that in the process from t1 to t3, when the acceleration time is longer and the acceleration is faster and faster, an excessive error will be introduced in the integration operation, because there is not such a large acceleration force in practice, so that when the speed of the process from t1 to t3 is corrected, the speed will be calculated according to the following formula:
wherein SpeedbitIs the ratio of the number of acceleration points to the number of deceleration points, AverjIs the average of the accelerations over the corresponding time interval, and f (x) is the respective acceleration over the time interval.
For the time interval from t4 to t5, Speed is measuredbitThe judgment of the size can find that the speed is obviously abnormal speed reduction process, because even if the speed is reduced, the cliff type speed reduction can not occur, so that the speed reduction process has to be necessarily carried outIt is corrected. Therefore, from the speed of the process at the time of correction t4 to t5, the speed is calculated as follows:
example four
Referring to fig. 5, fig. 4 is a flow chart of another speed calculation method provided in the embodiments of the present application, and the present embodiment will include the above embodiments, and is intended to describe a speed calculation process that will be actually used in the present application from the large class of error removal, including the following steps:
s401: removing equipment errors;
one implementation, including but not limited to, is:
before the acceleration of the target object is measured by the acceleration sensor, measuring the acceleration of the target object in a static state by the acceleration sensor to obtain an equipment error;
and carrying out equipment error removing processing on the acceleration sensor according to the equipment error.
S402: removing earth gravity acceleration errors;
one implementation, including but not limited to, is:
measuring the acceleration of the target object by using an acceleration sensor to obtain the acceleration expressed under the user-defined space coordinate;
and converting the acceleration expressed under the self-defined space coordinate into a global coordinate system by using the transformation matrix for expression, and obtaining the measured acceleration expressed by the global coordinate system.
Among them, the attitude angle transformation matrix using the three-axis acceleration sensor is an algorithm which is well known and commonly used by those skilled in the art, and will not be described in detail herein.
S403: removing an acceleration reference error;
for removing the acceleration reference error, reference may be made to the first embodiment and the second embodiment, which are not described herein again.
S404: correcting an acceleration process and a deceleration process which obviously do not conform to the actual motion condition;
for this part, reference may be made to embodiment three, which is not described herein again.
S405: a speed closer to the actual situation is obtained.
Through the above 4 processes, a speed closer to the actual speed can be obtained.
For the speed that the scheme that provides for this application finally calculated and whether more closely to actual speed, this application still provides two test processes to carry out the verification of validity through the test:
the first test is to test the speed of acceleration, deceleration and uniform three motion conditions by using an acceleration sensor arranged on an automobile:
the automobile is accelerated from 0km/h to 60km/h, and the acceleration measured by the acceleration sensor is processed by the scheme provided by the application and is integrated to obtain a speed which is recorded as CarAddspeed; then, the automobile decelerates to 40km/h, and a speed is obtained again and is marked as CarSubspeed; finally, the speed is reduced to 20km/h, and after the uniform motion is kept for 5min, a speed is obtained again and is recorded as CarVerspeed. This procedure was followed for a total of 20 tests. The statistical results are shown in fig. 6, and the error rates relative to the actual speed are obtained according to the following relative error formulas: 0.91%, 3.82%, 0.67%.
The second test, the test object being a bicycle, differs from a car that can display the actual speed directly through the electronic device, which would use the quotient of distance and time:
firstly, a distance with the length of 3km is selected by a meter ruler, marks are placed at the positions of 1km, 2km and 3km, and a tester is arranged on each point for timing.
Starting from a starting point (0km), a tester starts timing at the same time, the tester starts to accelerate directly until the tester reaches 1km, the time is recorded as TimeAdd (unit is second), and the acceleration measured by an acceleration sensor is processed by the scheme provided by the application and is integrated to obtain a speed which is recorded as BikeAddspeed; then, the vehicle is decelerated to drive to 2km, the timing is TimeSub, and a speed is obtained again and is marked as BikeSubspeed; and finally, keeping a constant speed state, riding for 3km, timing to be TimeVer, and obtaining a speed again and recording as BikeVerspeed. This procedure was followed for a total of 20 tests. The statistical results are shown in fig. 7, and the error rates relative to the actual speed are obtained according to the following relative error formulas: 0.78%, 0.56%, 2.01%.
Through the experiment and the obtained relative error rate, the method can be seen that small accumulated errors can be prevented from being introduced by correcting the acceleration reference in the motion state in real time according to the scheme provided by the application, the error introduced in the abnormal motion process can be compensated by a correction formula of an acceleration and deceleration interval, the motion acceleration signal is integrated by combining two compensation methods to calculate the speed, the signal error can be reduced, and the accuracy of the speed is ensured. So that the error rate of the real-time calculated speed to the actual speed remains within 5 percent even in long-distance movements.
EXAMPLE five
Referring to fig. 8, fig. 8 is a block diagram of a speed calculation system according to an embodiment of the present disclosure, where the speed calculation system may include:
an acceleration measuring unit 100 for measuring an acceleration of the target object by using an acceleration sensor to obtain a measured acceleration;
a motion window determination unit 200 for determining a motion window according to the magnitude of the measured acceleration;
the actual acceleration reference calculating unit 300 is configured to calculate an acceleration mean value of the motion window, and use the acceleration mean value as an actual acceleration reference of the motion window;
a reference correction unit 400, configured to correct the measured acceleration according to an actual acceleration reference, so as to obtain a reference-calibrated acceleration;
and the speed calculation unit 500 is used for calculating the speed of the motion window according to the acceleration after the reference calibration.
Wherein, the motion window determining unit 200 may include:
the magnitude comparison subunit is used for judging whether the measured acceleration exceeds the preset motion state acceleration or not;
and the motion window judging subunit is used for judging the time window that the measured acceleration exceeds the acceleration in the motion state as the motion window.
Further, the speed calculation system may further include:
and the static window judging and modifying unit is used for judging the time window that the measured acceleration does not exceed the acceleration in the motion state as a static window and modifying the speed of the static window to 0 by using a zero speed compensation method.
Wherein the actual acceleration reference calculation unit may include:
a continuous moving window judging subunit, configured to judge whether N time windows arranged before the moving window are all moving windows; wherein N is a positive integer greater than or equal to 1;
the acceleration mean value first calculating subunit is used for taking the arithmetic mean value of a plurality of accelerations contained in the motion window as the acceleration mean value of the motion window when the N time windows arranged in front of the motion window are all motion windows;
and the acceleration mean value second calculating subunit is used for taking the arithmetic mean value of the accelerations of the N time windows arranged before the motion window as the acceleration mean value of the motion window when the N time windows arranged before the motion window are not all motion windows.
Further, the speed calculation system may further include:
the acceleration point and deceleration point determining unit is used for determining the acceleration point and the deceleration point in the motion window according to the magnitude relation between the acceleration after the reference calibration and the preset acceleration and deceleration threshold after the acceleration after the reference calibration is obtained and before the speed of the motion window is obtained through calculation according to the acceleration after the reference calibration;
the actual ratio calculation unit is used for calculating the ratio between the acceleration points and the deceleration points in the motion window to obtain an actual ratio;
the acceleration process correcting unit is used for multiplying the acceleration of the motion window after the reference calibration and the reciprocal of the actual ratio when the actual ratio is larger than a first preset ratio, and taking the obtained product as a new acceleration after the reference calibration;
the deceleration process correction unit is used for multiplying the acceleration of the motion window after the reference calibration and the actual ratio when the actual ratio is smaller than a second preset ratio, and taking the obtained product as a new acceleration after the reference calibration; wherein the second preset ratio is smaller than the first preset ratio.
Still further, the speed calculation system may further include:
the device error measuring unit is used for measuring the acceleration of the target object in a static state by using the acceleration sensor before measuring the acceleration of the target object by using the acceleration sensor to obtain a device error;
and the equipment error removing unit is used for performing equipment error removing processing on the acceleration sensor according to the equipment error.
Still further, the speed calculation system may further include:
the user-defined coordinate system expression subunit is used for measuring the acceleration of the target object by using the acceleration sensor to obtain the acceleration expressed under the user-defined space coordinate;
and the coordinate system conversion subunit is used for converting the acceleration expressed under the self-defined space coordinate into a global coordinate system by using the transformation matrix for expression, so as to obtain the measured acceleration expressed by using the global coordinate system.
EXAMPLE six
Fig. 9 is a block diagram illustrating an electronic device 300 in accordance with an example embodiment. As shown in fig. 9, the electronic device 600 may include: a processor 601 and a memory 602. The electronic device 600 may also include one or more of a multimedia component 603, an information input/information output (I/O) interface 604, and a communication component 605.
The processor 601 is configured to control the overall operation of the electronic device 600 to complete all or part of the steps in the speed calculation method applied to the electronic device; the memory 602 is used to store various types of data to support operation at the electronic device 600, such as instructions for any application or method operating on the electronic device 600 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and so forth. The Memory 602 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk.
The multimedia components 603 may include a screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 602 or transmitted through the communication component 605. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 604 provides an interface between the processor 601 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 605 is used for wired or wireless communication between the electronic device 600 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so that the corresponding Communication component 605 may include: Wi-Fi module, bluetooth module, NFC module.
Specifically, the electronic device may be an intelligent wearable device (e.g., an intelligent bracelet, an intelligent watch, a tracker, etc.), in which an acceleration sensor is embedded, and the acceleration sensor is used to obtain a speed closer to an actual speed after the processor executes the above steps according to an acceleration acquired by the acceleration sensor.
In an exemplary embodiment, the electronic Device 600 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the speed calculation methods set forth above.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the above-described velocity calculation method is also provided. For example, the computer readable storage medium may be the memory 602 storing program instructions executable by the processor 601 of the electronic device 600 to perform the velocity calculation method.
The principle and the implementation of the present application are described herein by applying specific examples, and in order to make the various embodiments have a progressive relationship, each embodiment focuses on the differences from the other embodiments, and the same and similar parts among the various embodiments may be referred to each other. For the apparatus disclosed in the embodiments, reference is made to the corresponding method section. The above description of the embodiments is only intended to help understand the method of the present application and its core ideas. It will be apparent to those skilled in the art that various changes and modifications can be made in the present invention without departing from the principles of the invention, and these changes and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method of velocity calculation, comprising:
measuring the acceleration of a target object by using an acceleration sensor to obtain a measured acceleration;
determining a motion window according to the measured acceleration; wherein the motion window is a time window in which the acceleration sensor measures acceleration when the target object is in a motion state;
calculating to obtain an acceleration mean value of the motion window, and taking the acceleration mean value as an actual acceleration reference of the motion window;
correcting the measured acceleration according to the actual acceleration reference to obtain the acceleration after reference calibration;
and calculating the speed of the motion window according to the acceleration after the reference calibration.
2. The velocity calculation method according to claim 1, wherein determining a motion window according to the magnitude of the measured acceleration comprises:
judging whether the measured acceleration exceeds a preset motion state acceleration or not;
and if so, determining the time window when the measured acceleration exceeds the motion state acceleration as the motion window.
3. The velocity calculation method according to claim 2, further comprising:
and judging the time window that the measured acceleration does not exceed the acceleration in the motion state as a static window, and correcting the speed of the static window to be 0 by using a zero speed compensation method.
4. The velocity calculation method according to claim 1, wherein calculating the mean value of the accelerations of the motion window comprises:
judging whether N time windows arranged in front of the motion window are all motion windows; wherein N is a positive integer greater than or equal to 1;
if all the N time windows arranged in front of the motion window are motion windows, taking an arithmetic mean value of a plurality of accelerations contained in the motion window as an acceleration mean value of the motion window;
and if the N time windows arranged in front of the motion window are not all motion windows, taking the arithmetic mean value of the accelerations of the N time windows arranged in front of the motion window as the mean value of the accelerations of the motion window.
5. The velocity calculation method according to any one of claims 1 to 4, further comprising, after obtaining the reference calibrated acceleration and before calculating the velocity of the motion window from the reference calibrated acceleration:
determining the number of acceleration points and the number of deceleration points in the motion window according to the magnitude relation between the acceleration after the reference calibration and a preset acceleration and deceleration threshold;
calculating the ratio of the number of acceleration points to the number of deceleration points in the motion window to obtain an actual ratio;
when the actual ratio is larger than a first preset ratio, multiplying the acceleration of the motion window after the reference calibration and the reciprocal of the actual ratio, and taking the obtained product as a new acceleration after the reference calibration;
when the actual ratio is smaller than a second preset ratio, multiplying the acceleration of the motion window after the reference calibration with the actual ratio, and taking the obtained product as a new acceleration after the reference calibration; wherein the second preset ratio is smaller than the first preset ratio.
6. The velocity calculation method according to claim 5, before measuring the acceleration of the target object with the acceleration sensor, further comprising:
measuring the acceleration of the target object in a static state by using the acceleration sensor to obtain an equipment error;
and carrying out equipment error removing processing on the acceleration sensor according to the equipment error.
7. The velocity calculation method according to claim 6, wherein measuring the acceleration of the target object with the acceleration sensor to obtain the measured acceleration includes:
measuring the acceleration of the target object by using the acceleration sensor to obtain the acceleration expressed under the user-defined space coordinate;
and converting the acceleration expressed under the self-defined space coordinate into a terrestrial coordinate system by using a transformation matrix for expression, so as to obtain the measured acceleration expressed by the terrestrial coordinate system.
8. A speed calculation system, comprising:
the acceleration measuring unit is used for measuring the acceleration of the target object by using the acceleration sensor to obtain the measured acceleration;
the motion window determining unit is used for determining a motion window according to the measured acceleration; wherein the motion window is a time window in which the acceleration sensor measures acceleration when the target object is in a motion state;
the actual acceleration reference calculation unit is used for calculating an acceleration mean value of the motion window and taking the acceleration mean value as an actual acceleration reference of the motion window;
the reference correction unit is used for correcting the measured acceleration according to the actual acceleration reference to obtain the acceleration after reference calibration;
and the speed calculation unit is used for calculating the speed of the motion window according to the acceleration after the reference calibration.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the speed calculation method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, realizes the speed calculation method according to any one of claims 1 to 7.
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