CN110455316A - A kind of adaptive zero-speed section detecting method - Google Patents
A kind of adaptive zero-speed section detecting method Download PDFInfo
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- CN110455316A CN110455316A CN201910793466.4A CN201910793466A CN110455316A CN 110455316 A CN110455316 A CN 110455316A CN 201910793466 A CN201910793466 A CN 201910793466A CN 110455316 A CN110455316 A CN 110455316A
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- G—PHYSICS
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The present invention provides a kind of adaptive zero-speed section detecting methods, belong to pedestrian navigation field of locating technology.Include: S1: obtaining the output data of inertia device in real time, the output data includes the angular velocity information and acceleration information of the inertia device；S2: the initial angular velocity energy threshold of angular speed zero-speed detection is determined according to the angular velocity information；S3: angular speed zero-speed detection is carried out according to the sliding window of the initial angular velocity energy threshold angular velocity zero-speed detection, determines the test point number and the corresponding state of section of the sliding window in the sliding window；S4: the initial angular velocity energy threshold is adaptively adjusted according to the test point number and the sliding window corresponding state of section, obtains the initial zero section based on the initial angular velocity energy threshold；S5: acceleration zero-speed detection is carried out to the initial zero section according to the acceleration information, the initial zero section is modified, obtains amendment zero-speed section.
Description
Technical field
The present invention relates to pedestrian navigation field of locating technology, and in particular to a kind of adaptive zero-speed section detecting method.
Background technique
Zero velocity Updating method is a kind of error correction means that pedestrian navigation system is widely used, according in pedestrian's gait
Periodically there are the characteristics that zero-speed section carries out periodical clearing to the location error of navigation calculation.The premise of Zero velocity Updating is
Accurately and efficiently detect the zero-speed section during pedestrian movement.Common zero-speed section detecting method have acceleration modulus value method,
Angular speed modulus value method, acceleration sliding scale difference method or a variety of methods are comprehensive, still, threshold in existing zero-speed section detecting method
Value setting is fixed or single, cannot adaptively be adjusted according to the variation of gait, to the bad adaptability of more gait motions.
Summary of the invention
Problems solved by the invention is the problem of existing zero-speed section detecting method is to multistep state bad adaptability.
One aspect of the present invention provides a kind of adaptive zero-speed section detecting method, comprising:
S1: obtaining the output data of inertia device in real time, and the output data includes the angular speed letter of the inertia device
Breath and acceleration information；
S2: the initial angular velocity energy threshold of angular speed zero-speed detection is determined according to the angular velocity information；
S3: angular speed zero-speed is carried out according to the sliding window of the initial angular velocity energy threshold angular velocity zero-speed detection
Detection, determines the test point number and the corresponding state of section of the sliding window in the sliding window；
S4: according to the test point number and the corresponding state of section of the sliding window to the initial angular velocity energy
Threshold value is adaptively adjusted, and the initial zero section based on the initial angular velocity energy threshold is obtained；
S5: acceleration zero-speed detection is carried out to the initial zero section according to the acceleration information, to described initial
Zero-speed section is modified, and obtains amendment zero-speed section.
Optionally, the S4 step includes:
S410: the corresponding time t of the sliding window is calculated according to the test point number；
S420: according to the time t and the corresponding state of section of the sliding window to the initial angular velocity energy cut-off
Value is adaptively adjusted, and the initial zero section based on the initial angular velocity energy threshold is obtained.
Optionally, the S420 step includes:
When the corresponding state of section of the sliding window is movement section, judge whether the size of the time t meets
t1≤t≤t2, wherein t1For the first preset time, t2For the second preset time: being to return to S3 step, to next sliding window
Carry out angular speed zero-speed detection；It is no, to the initial angular velocity energy threshold TωIt is adaptively adjusted, and according to described initial
The adjustment number of angular speed energy threshold carries out zero-speed interval judgement；
When the corresponding state of section of the sliding window is zero-speed section, judge whether the size of the time t meets t
≥t3, wherein t3For third preset time: being that the sliding window is determined as the initial zero section；It is no, to described initial
Angular speed energy threshold is adaptively adjusted, and carries out zero-speed area according to the adjustment number of the initial angular velocity energy threshold
Between judge.
Optionally, described to the initial angular velocity when the corresponding state of section of the sliding window is movement section
Energy threshold carries out adaptive set-up procedure
When the size of the time t meets t < t1When, reduce the initial angular velocity energy threshold T ω；
When the size of the time t meets t > t2When, increase the initial angular velocity energy threshold.
Optionally, described to the initial angular velocity when the corresponding state of section of the sliding window is zero-speed section
Energy threshold is adaptively adjusted are as follows:
Increase the initial angular velocity energy threshold.
Optionally, described and according to the adjustment number of the initial angular velocity energy threshold carry out zero-speed interval judgement packet
It includes:
The adjustment number for counting the initial angular velocity energy threshold judges the adjustment of the initial angular velocity energy threshold
Whether number is more than preset value: it is no, return to S3 step；It is to judge whether the sliding window is zero-speed section: is, the cunning
Dynamic window is determined as the initial zero section；It is no, S3 step is returned to, angular speed zero-speed detection is carried out to next sliding window.
Optionally, the S5 step includes:
S510: true according to the corresponding acceleration information of initial zero section test point in the initial zero section
Determine the acceleration amplitude threshold value of acceleration zero-speed detection；
S520: acceleration zero-speed is carried out to all initial zero section test points according to the acceleration amplitude threshold value
Detection, is modified the initial zero section, obtains amendment zero-speed section.
Optionally, the S510 step includes:
S511: all described initial zero is calculated according to the corresponding acceleration information of initial zero section test point
The corresponding acceleration amplitude of fast section test point；
S512: the corresponding acceleration amplitude of all initial zero section test points is ranked up, according to row
The acceleration amplitude after sequence generates interim section；
S513: the acceleration is determined according to the test point corresponding acceleration amplitude in interim section in the interim section
Spend amplitude thresholds.
Optionally, the S520 step includes:
Acceleration zero-speed detection successively is carried out to initial zero section test point according to the acceleration amplitude threshold value,
Obtain the initial zero section test point of all zero acceleration modes；
The amendment zero-speed section is generated according to the initial zero section test point of all zero acceleration modes.
Optionally, the step S2 includes:
S210: the angular speed energy of n (n >=1) a test point before being calculated according to the angular velocity information；
S220: poor according to the angular speed energy balane angular speed average energy value and angular speed energy scale；
S230: the initial angular velocity energy is determined according to the angular speed average energy value and the angular speed energy scale difference
Measure threshold value.
Adaptive zero-speed section detecting method of the present invention is determined initial by the angular velocity information that inertia device exports
Angular speed energy threshold, so that the initial gait of the initial angular velocity energy threshold and pedestrian match；Further according to described first
Beginning angular speed energy threshold carries out angular speed zero-speed detection to sliding window, determine test point number in the sliding window and
The corresponding state of section of the sliding window, and according to state of section and the test point number to the initial angular velocity energy
Threshold value is adaptively adjusted, and forces anxious mode to adjust the initial angular velocity energy threshold by progressive, is obtained based on described
The initial zero section of initial angular velocity energy threshold reduces the missing inspection probability of zero-speed state-detection point；Pass through acceleration again
Zero-speed detection is modified the initial zero section, obtains the accurate amendment zero-speed section, of the present invention
Adaptive zero-speed section detecting method can incrementally adjust the initial angular velocity energy threshold, energy in pedestrian's motion process
The zero-speed section detection for enough realizing multistep state, detects high reliablity, practical.
Detailed description of the invention
Fig. 1 is the overview flow chart of adaptive zero-speed section detecting method of the present invention；
Fig. 2 is the flow chart of adaptive zero-speed section detecting method one of which embodiment S2 step of the present invention；
Fig. 3 is the process of S4 step in adaptive zero-speed section detecting method one of which embodiment of the present invention
Figure；
Fig. 4 is zero-speed section and movement in adaptive zero-speed section detecting method one of which embodiment of the present invention
Interval diagram.
Specific embodiment
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
Referring to Fig. 4, in pedestrian movement by taking left foot as an example: Pose1-Pose2 be movement section, that is, from left foot from
Gait process corresponding to ground to sole and ground face contact is opened as movement section, Pose3-Pose4 is zero-speed section, that is, left
Foot is always zero-speed section with gait process corresponding to ground face contact；In pedestrian navigation, generally obtained by zero-speed section
Motion view is measured and is modified to kinematic parameter, and the sole corresponding zero-speed section that lands further includes that speed is in practice
Zero, therefore the case where acceleration is not zero, generally all combines velocity and acceleration comprehensive descision.And due to each one difference and more
The presence of gait, the bad adaptability of zero-speed section detection.
The present inventor proposes a kind of adaptivity zero-speed section inspection incrementally adjusted according to prolonged research
Survey method.It is main according to being that, no matter which kind of gait pedestrian is in, zero-speed section will not be too short, and movement section will not mistake
It is long.The present invention is handled by the output data to inertia device first, obtains the initial angular velocity of angular speed zero-speed detection
Then energy threshold adjusts the initial angular velocity energy threshold in a manner of asymptotics, until pedestrian's gait tentatively meets
Pedestrian movement's basic law obtains the initial zero section based on initial angular velocity energy threshold, at this time the main mesh of step
Be not leak zero-speed detection point as far as possible, more actually zero-speed section is big in initial zero section at this time, then pass through acceleration zero
Speed detection carries out zero-velocity curve, obtains amendment zero-speed section.
It should be noted that in the present specification, being made with a data group of the output of inertia device described in same time point
It is analyzed for a test point；Sliding window indicates the section being made of multiple test points, and sliding window is that a section is long
Degree, that is, the section that test point number can change, when the corresponding state of test point changes, the sliding window
Terminate, the initial starting point of next sliding window is first test point after the sliding window.In this specification, the cunning
The dynamic corresponding state of section of window is zero-speed section or, the sliding window is zero-speed section, and expression is by the sliding window
The section of interior test point composition is zero-speed section；The corresponding state of section of the sliding window is movement section or, the cunning
Dynamic window is movement section, indicates the section being made of the test point in the sliding window for movement section.
Referring to Fig. 1, a kind of adaptive zero-speed section detecting method, comprising:
S1: obtaining the output data of inertia device in real time, and the output data includes the angular speed letter of the inertia device
Breath and acceleration information；
S2: the initial angular velocity energy threshold T of angular speed zero-speed detection is determined according to the angular velocity informationω；
S3: according to the initial angular velocity energy threshold TωThe sliding window of angular velocity zero-speed detection carries out angular speed zero
Speed detection, determines the test point number L and the corresponding state of section of the sliding window in the sliding window；
S4: according to the test point number L and the corresponding state of section of the sliding window to the initial angular velocity energy
Measure threshold value TωIt is adaptively adjusted, obtains the initial zero section based on the initial angular velocity energy threshold；
S5: acceleration zero-speed detection is carried out to the initial zero section according to the acceleration information, to described initial
Zero-speed section is modified, and obtains amendment zero-speed section.
Referring to Fig. 2, in some embodiments, the S2 step includes:
S210: the angular speed energy of n (n >=1) a test point before being calculated according to the angular velocity information.
Specifically, from detection calculating is started, the angular velocity information of preceding n test point is obtained, and it is corresponding to calculate its
Angular speed energy；Angular speed energy ωiCalculation formula are as follows:
WhereinWithIt is three-axis gyroscope in the angle that i-th (1≤i≤n, n < 30) a test point is got speed
Spend information.
S220: according to the angular speed energy balane angular speed average energy value μωWith angular speed energy scale difference σω。
Specifically, angular speed average energy value μωCalculation formula are as follows:
Angular speed energy scale difference σωCalculation formula are as follows:
S230: according to the angular speed average energy value μωWith the angular speed energy scale difference σωDetermine the initial angle speed
Spend energy threshold Tω。
Specifically, ω is taken out1,ω2,…ωnThe middle angular speed energy for meeting following formula is denoted as ω respectivelyi, wherein i=1,
2,…,W,W≤n
ωi≤μω+λ1σω
Wherein λ1For constant, demarcated by experimental data, in the present embodiment, λ1=5,
Take the initial angular velocity energy threshold TωAre as follows:
Tω=max { ωi}
However, it is to be understood that in some embodiments, the initial angular velocity energy threshold T can be takenωAre as follows:
Tω=μω+λ1σω
In this way, calculating the angular speed average energy value μ of preceding n (n > 1) a test point first according to the angular velocity informationωWith
Angular speed energy scale difference σω, further according to the angular speed average energy value μωWith the angular speed energy scale difference σωDescribed in determination
Initial angular velocity energy threshold TωNo matter pedestrian is in which kind of gait, the initial angular velocity energy threshold T when starting detectionω
With the angular speed average energy value μωWith the angular speed energy scale difference σωIt is associated, the initial angular velocity energy threshold
TωThe preliminary adaptation of gait can be reached with pedestrian, be subsequent to the initial angular velocity energy threshold TωAdaptively adjusted
It is whole to provide the foundation, meet the needs of multistep state zero-speed section detection, it is reliable high, it is practical.
In some embodiments, the S3 step includes:
S310: successively carrying out angular speed zero-speed detection to the test point in the sliding window from front to back, until angle speed
It spends zero-speed detection data and meets the first termination condition.
Specifically, angular speed zero-speed detection is carried out according to angular speed zero-speed detection formula, the angular speed zero-speed detection is public
Formula are as follows:
Wherein, j be from start detection calculate j-th of test point, Cj ωFor the corresponding motion state of j-th of test point, work as Cj ω
When=1, the corresponding motion state of j-th of test point is zero-speed state, works as Cj ωWhen=0, the corresponding movement shape of j-th of test point
State is motion state；
First termination condition are as follows:
Wherein, P is first test point in the sliding window, L0For the integer greater than 0；
S320: it when the angular speed zero-speed detection data meet the first termination condition, determines in the sliding window
The test point number L.
Specifically, the test point number L:L=L0；(P+L0- 1) a test point is last in the sliding window
One test point；
S330: when first test point is zero-speed state in the sliding window, the corresponding section of the sliding window
State is zero-speed section, when first test point is motion state in the sliding window, the corresponding area of the sliding window
Between state be movement section.
Specifically, whenWhen, the corresponding state of section of the sliding window is zero-speed section, whenWhen, institute
The corresponding state of section of sliding window is stated as movement section.
It should be understood that in further embodiments, the S310 step further include:
When first test point is zero-speed state in the sliding window, with first test point from it is rear to preceding according to
The secondary test point to before the sliding window carries out angular speed zero-speed detection, until the angular speed zero-speed detection data meet
Second termination condition.
That is, working asWhen, it using P is starting point from rear to preceding successively right according to the angular speed zero-speed detection formula
Test point before the sliding window carries out angular speed zero-speed detection, until the angular speed zero-speed detection data meet second
Termination condition.
Second termination condition are as follows:
Or
Wherein, L1For the integer greater than 0.
Correspondingly, in the step S320, the test point number L:L=L0+L1.It should be understood that at this point, institute
It states the corresponding section of sliding window to change, first in the sliding window test point P has: P=P-L1+1。
In this way, when the corresponding state of section of the sliding window is zero-speed state, when the initial angular velocity energy cut-off
Value TωIt carries out after adaptively adjusting, the corresponding range of the sliding window is accordingly according to the initial angular velocity energy threshold Tω
It forwardly and rearwardly adjusts, avoids the generation of leakage zero-speed state-detection point, high reliablity is practical.
Referring to Fig. 3, the S4 step includes:
S410: the corresponding time t of the sliding window is calculated according to the test point number L.
Specifically, time t=(L-1) the * t0, wherein t0For the detection cycle of the inertia device, in the present embodiment,
The detection frequency of the inertia device is 100Hz, that is to say, that t0For 0.01s.
S420: according to the time t and the corresponding state of section of the sliding window to the initial angular velocity energy cut-off
Value TωIt is adaptively adjusted, is obtained based on the initial angular velocity energy threshold TωThe initial zero section.
Specifically, in some embodiments, the S420 step includes:
When the corresponding state of section of the sliding window is movement section, judge whether the size of the time t meets
t1≤t≤t2, wherein t1For the first preset time, t2For the second preset time: being to return to S3 step, to next sliding window
Carry out angular speed zero-speed detection；It is no, to the initial angular velocity energy threshold TωIt is adaptively adjusted, and according to described initial
Angular speed energy threshold TωAdjustment number carry out zero-speed interval judgement；
When the corresponding state of section of the sliding window is zero-speed section, judge whether the size of the time t meets t
≥t3, wherein t3For third preset time: being that the sliding window is determined as the initial zero section；It is no, to described initial
Angular speed energy threshold TωIt is adaptively adjusted, and according to the initial angular velocity energy threshold TωAdjustment number carry out zero
Fast interval judgement.
It should be understood that when the sliding window is movement section, according to the kinetic characteristic of people, in any gait
In, movement section neither can it is too short will not be too long, by judging whether the size of the time t meets t1≤t≤t2, determine
Whether need to adjust the initial angular velocity energy threshold Tω, judgment basis is reliable, practical.First preset time
t1, second preset time t2It is demarcated according to experimental data, in some embodiments, first preset time t1=
0.05s, second preset time t2=3s, in the present embodiment, first preset time t1=0.1s, described second is pre-
If time t2=2s.
It should be understood that the starting point of next sliding window is first test point after the sliding window.
Specifically, described to the initial angular velocity when the corresponding state of section of the sliding window is movement section
Energy threshold TωCarrying out adaptive set-up procedure includes:
When the size of the time t meets t < t1When, reduce the initial angular velocity energy threshold Tω；
When the size of the time t meets t > t2When, increase the initial angular velocity energy threshold Tω。
Specifically, in some embodiments, when the size of the time t meets t < t1When, the initial angular velocity energy
Threshold value TωAdjustment mode are as follows: Tω=k1*Tω, wherein k1< 1, k1For constant, demarcated by experimental data；In some embodiments
In, k1=0.85, in the present embodiment, the k1=0.95；In other implementations, when the size of the time t meets t < t1
When, the initial angular velocity energy threshold TωAdjustment mode are as follows: Tω=minJ=P ..., P+L{ωj}。
Specifically, in some embodiments, when the size of the time t meets t > t2When, the initial angular velocity energy
Threshold value TωAdjustment mode are as follows: Tω=k2*Tω, wherein k2> 1, k2For constant, demarcated by experimental data；In some embodiments
In, k2=1.15, in the present embodiment, the k2=1.05.
In this way, judging whether the time t meets t when the sliding window is movement section1≤t≤t2, when described
The size of time t is unsatisfactory for t1≤t≤t2When, divide concrete condition to the initial angular velocity energy threshold TωAdaptively adjusted
It is whole, the initial angular velocity energy threshold T is adjusted by way of asymptoticsω, when the size of the time t meets t1≤t
≤t2When, it determines that the sliding window meets the rule in movement section, determines that the sliding window for movement section, carries out next
The detection of sliding window, high reliablity are practical.
Specifically, when the corresponding state of section of the sliding window is zero-speed section, it is in office according to the kinetic characteristic of people
In what gait, zero-speed section will not be too short, is determined whether by judging whether the size of the time t meets third preset time
Need to adjust the initial angular velocity energy threshold Tω, judgment basis is reliable.The third preset time t3According to experimental data
Calibration, in some embodiments, the third preset time t3: t3=1.5s, in the present embodiment, the time t3=0.5s.
Specifically, described to the initial angular velocity when the corresponding state of section of the sliding window is zero-speed section
Energy threshold TωAdaptively adjusted are as follows:
Increase the initial angular velocity energy threshold Tω。
Specifically, in some embodiments, when the size of the time t is unsatisfactory for: t >=t3When, the initial angular velocity
Energy threshold TωAdjustment mode are as follows: Tω=k3*Tω, wherein k3> 1, k3For constant, demarcated by experimental data；In other realities
It applies in example, the initial angular velocity energy threshold TωAdjustment mode are as follows:
Wherein, k4、k5It for integer, is demarcated by experimental data, preferably, k4+k5≤ L, specifically, k in some embodiments4
=L, k5=0；In this way, increasing the initial angular velocity energy threshold Tω, adjusted by way of asymptotics described initial
Angular speed energy threshold Tω, high reliablity is practical.
In this way, judging whether the time t meets t when the corresponding state of section of the sliding window is zero-speed section
≥t3, when the size of the time t is unsatisfactory for t >=t3When, the initial angular velocity energy cut-off is adjusted by way of asymptotics
Value Tω, the generation of leakage zero-speed state-detection point is avoided, when the time t meets t >=t3When, determine that the sliding window meets
The rule in zero-speed section determines that the sliding window is the initial zero section, and high reliablity is practical.
It is described and according to the initial angular velocity energy threshold TωAdjustment number carry out the zero-speed interval judgement and include:
Count the initial angular velocity energy threshold TωAdjustment number, judge the initial angular velocity energy threshold Tω's
Adjust whether number is more than preset value: it is no, return to S3 step；It is to judge whether the sliding window is zero-speed section: is, institute
It states sliding window and is determined as the initial zero section；It is no, S3 step is returned to, the inspection of angular speed zero-speed is carried out to next sliding window
It surveys.
Specifically, the preset value can be determined according to experiment value, can also be taking human as specified.In this way, working as the initial angle
Velocity energy threshold value TωWhen adjusting number more than preset value, stop to the initial angular velocity energy threshold TωAdjustment, avoid
A large amount of operation, reduces data processing difficulty, simultaneously, moreover it is possible to ensure the initial zero interval censored data to a certain extent
Reliability, high reliablity are practical.It should be understood that in the detection of same sliding window, no matter the sliding window
When to move section or zero-speed section, the initial angular velocity energy threshold T is countedωAdjustment number.
In some embodiments, the S5 step includes:
S510: true according to the corresponding acceleration information of initial zero section test point in the initial zero section
Determine the acceleration amplitude threshold value of acceleration zero-speed detection；
S520: acceleration zero-speed is carried out to all initial zero section test points according to the acceleration amplitude threshold value
Detection, is modified the initial zero section, obtains amendment zero-speed section.
Specifically, the S510 step includes:
S511: all described initial zero is calculated according to the corresponding acceleration information of initial zero section test point
The corresponding acceleration amplitude of fast section test point.
Specifically, acceleration amplitude calculation formula are as follows:
Wherein,WithThe acceleration information that the respectively described inertia device is got in i-th of test point.
S512: the corresponding acceleration amplitude of all initial zero section test points is ranked up, according to row
The acceleration amplitude after sequence generates interim section.
Specifically, the sequence can be ascending order/descending arrangement, and the L is of initial zero section test point
Number, the acceleration amplitude corresponding to all initial zero section test points carries out ascending order/descending arrangement, right after sequence
The L acceleration amplitude answered is denoted as f ' respectively1,f′2,…,f′L, the corresponding acceleration amplitude in the interim section is denoted as respectively
f′Q-R+1,f′Q-R+2,…,f′Q+R, wherein1/4≤k6< 1/2, k6It is demarcated by experimental data,
In some embodiments, k6=1/4, that is to say, that Q is the smallest positive integral more than or equal to L/2, and R is the minimum more than or equal to L/4
Integer.
S513: the acceleration is determined according to the test point corresponding acceleration amplitude in interim section in the interim section
Spend amplitude thresholds.
Specifically, the S513 step includes:
Acceleration width is calculated according to the corresponding acceleration amplitude of interim section test point described in the interim section
It is worth mean μfWith acceleration amplitude standard deviation sigmaf；
According to the acceleration amplitude mean μfWith the acceleration amplitude standard deviation sigmafCalculate the acceleration amplitude threshold
Value.
Specifically, the acceleration amplitude mean μfCalculation formula are as follows:
The acceleration amplitude standard deviation sigmafCalculation formula are as follows:
Specifically, the acceleration amplitude threshold value includes acceleration amplitude upper threshold value TOn fWith acceleration amplitude upper threshold value TUnder f,
Specifically,
The acceleration amplitude upper threshold value TOn f: TOn f=μf+λ2σf,
The acceleration amplitude upper threshold value TUnder f: TUnder f=μf-λ3σf,
Wherein, λ2And λ3For constant, demarcated by experimental data, in some embodiments, λ2=3, λ3=3.
Specifically, the S520 step includes:
Acceleration zero-speed detection successively is carried out to initial zero section test point according to the acceleration amplitude threshold value,
Obtain the initial zero section test point of all zero acceleration modes.
Specifically, according to the acceleration amplitude upper threshold value TOn fWith the acceleration amplitude upper threshold value TUnder fFrom front to back according to
It is secondary that acceleration zero-speed detection, acceleration zero-speed detection formula are carried out to initial zero section test point are as follows:
Wherein, whereinZero acceleration mode is indicated for the motion state at j moment, 1, and 0 indicates motion state.
The amendment zero-speed section is generated according to the initial zero section test point of all zero acceleration modes.
It should be noted that under normal circumstances, the continuous initial zero section test point group of all zero acceleration modes
At the amendment zero-speed section, still, in some extreme environments, the initial zero section of all zero acceleration modes is detected
Point is not totally continuous, at this point, if being spaced movement between the initial zero section test point of adjacent zeros acceleration mode
When the initial zero section test point of state, as long as the number of the initial zero section test point of motion state does not surpass
Cross preset value S, it is believed that the initial zero section test point of motion state belongs to the amendment zero-speed section, the preset value
S is demarcated according to experimental data, in some embodiments the preset value S:1/8≤k7< 1/4.But rear
When continuous progress pedestrian's location navigation, positioning is carried out using the continuous initial zero section test point in zero acceleration mode and is led
Boat.
It should be noted that returning to S3 step after the amendment zero-speed section, carrying out the angle of next sliding window
Speed zero-speed detection, at this point, the starting point of next sliding window is first test point after the initial zero section.
In the present embodiment, IMU is tied up in instep, and raspberry pie is fixed on waist, is transported on the rectangle playground of 80m*60m
It is dynamic.4 groups of data are acquired in experiment, wherein two groups are what is acquired when normal walking, have been moved 193 steps and 204 steps respectively, have been denoted as
W_193 and W_204；Other two groups are what is acquired when hybrid motion, have moved 133 steps and 145 steps respectively, have been denoted as Hunhe_133
And Hunhe_145, while zero-speed detection is carried out using three Condition Methods, testing result is as shown in table 1, and the data in analytical table 1 can
Know, when moving gait is single walking, the average omission factor of adaptive algorithm and three Condition Methods is respectively 0.505% He
1%；When moving gait mixing, the average omission factor of the two is respectively 0.375% and 28.925%.
The step number omission factor of either single movement or hybrid motion, adaptive algorithm is below three Condition Methods, works as step
When state is relatively simple, step number both can be accurately detected, but the accuracy rate of adaptive algorithm is higher；When gait is changeable
When, adaptive algorithm remains to accurately detect step number, but multistep missing inspection occur in three condition rules, are unable to accurate detection
Step number out；Prove this method can not only accurate detection go out step number, and it is strong to the adaptivity of gait.
1 adaptive algorithm of table and three Condition Method step number testing results compare
Note:
Adaptive zero-speed section detecting method of the present invention is determined by the angular velocity information that inertia device exports first
Initial angular velocity energy threshold Tω, so that the initial angular velocity energy threshold TωMatch with the initial gait of pedestrian；Root again
According to the initial angular velocity energy threshold TωAngular speed zero-speed detection is carried out to sliding window, determines the inspection in the sliding window
Measure-point amount L and the corresponding state of section of the sliding window, and according to state of section and the test point number L to described first
Beginning angular speed energy threshold TωIt is adaptively adjusted, forces anxious mode to adjust the initial angular velocity energy threshold by progressive
Tω, the initial zero section based on the initial angular velocity energy threshold is obtained, the missing inspection for reducing zero-speed state-detection point is several
Rate；The initial zero section is modified by acceleration zero-speed detection again, obtains the accurate amendment zero-speed
Section.The present invention can incrementally adjust the initial angular velocity energy threshold T in pedestrian's motion processω, can be realized multistep
The zero-speed section of state is detected, and high reliablity is practical.
Although the disclosure discloses as above, the protection scope of the disclosure is not limited only to this.Those skilled in the art are not
Under the premise of being detached from spirit and scope of the present disclosure, it can make various changes and modify, these changes will fall into this with modification
The protection scope of invention.
Claims (10)
1. a kind of adaptive zero-speed section detecting method characterized by comprising
S1: in real time obtain inertia device output data, the output data include the inertia device angular velocity information and
Acceleration information；
S2: the initial angular velocity energy threshold T of angular speed zero-speed detection is determined according to the angular velocity informationω；
S3: according to the initial angular velocity energy threshold TωThe sliding window of angular velocity zero-speed detection carries out the inspection of angular speed zero-speed
It surveys, determines the test point number L and the corresponding state of section of the sliding window in the sliding window；
S4: according to the test point number L and the corresponding state of section of the sliding window to the initial angular velocity energy cut-off
Value TωIt is adaptively adjusted, obtains the initial zero section based on the initial angular velocity energy threshold；
S5: acceleration zero-speed detection is carried out to the initial zero section according to the acceleration information, to the initial zero
Section is modified, and obtains amendment zero-speed section.
2. zero-speed section detecting method as described in claim 1 adaptive, which is characterized in that the S4 step includes:
S410: the corresponding time t of the sliding window is calculated according to the test point number L；
S420: according to the time t and the corresponding state of section of the sliding window to the initial angular velocity energy threshold Tω
It is adaptively adjusted, is obtained based on the initial angular velocity energy threshold TωThe initial zero section.
3. zero-speed section detecting method as claimed in claim 2 adaptive, which is characterized in that the S420 step includes:
When the corresponding state of section of the sliding window is movement section, judge whether the size of the time t meets t1≤t
≤t2, wherein t1For the first preset time, t2For the second preset time: being to return to S3 step, carry out angle to next sliding window
Speed zero-speed detection；It is no, to the initial angular velocity energy threshold TωIt is adaptively adjusted, and according to the initial angular velocity
Energy threshold TωAdjustment number carry out zero-speed interval judgement；
When the corresponding state of section of the sliding window is zero-speed section, judge whether the size of the time t meets t >=t3,
Wherein t3For third preset time: being that the sliding window is determined as the initial zero section；It is no, to the initial angle speed
Spend energy threshold TωIt is adaptively adjusted, and according to the initial angular velocity energy threshold TωAdjustment number carry out zero-speed area
Between judge.
4. adaptive zero-speed section detecting method as claimed in claim 3, which is characterized in that when the sliding window is corresponding
It is described to the initial angular velocity energy threshold T when state of section is movement sectionωCarrying out adaptive set-up procedure includes:
When the size of the time t meets t < t1When, reduce the initial angular velocity energy threshold Tω；
When the size of the time t meets t > t2When, increase the initial angular velocity energy threshold Tω。
5. adaptive zero-speed section detecting method as claimed in claim 3, which is characterized in that when the sliding window is corresponding
It is described to the initial angular velocity energy threshold T when state of section is zero-speed sectionωAdaptively adjusted are as follows:
Increase the initial angular velocity energy threshold Tω。
6. zero-speed section detecting method as claimed in claim 3 adaptive, which is characterized in that described and according to the initial angle
Velocity energy threshold value TωAdjustment number carry out zero-speed interval judgement include:
Count the initial angular velocity energy threshold TωAdjustment number, judge the initial angular velocity energy threshold TωAdjustment
Whether number is more than preset value: it is no, return to S3 step；It is to judge whether the sliding window is zero-speed section: is, the cunning
Dynamic window is determined as the initial zero section；It is no, S3 step is returned to, angular speed zero-speed detection is carried out to next sliding window.
7. zero-speed section detecting method as described in claim 1 adaptive, which is characterized in that the S5 step includes:
S510: it is determined and is added according to the corresponding acceleration information of the initial zero section test point in the initial zero section
The acceleration amplitude threshold value of speed zero-speed detection；
S520: the inspection of acceleration zero-speed is carried out to all initial zero section test points according to the acceleration amplitude threshold value
It surveys, the initial zero section is modified, obtain the amendment zero-speed section.
8. zero-speed section detecting method as claimed in claim 7 adaptive, which is characterized in that the S510 step includes:
S511: all initial zero areas are calculated according to the corresponding acceleration information of initial zero section test point
Between the corresponding acceleration amplitude of test point；
S512: the corresponding acceleration amplitude of all initial zero section test points is ranked up, after sequence
The acceleration amplitude generate interim section；
S513: the acceleration width is determined according to the test point corresponding acceleration amplitude in interim section in the interim section
It is worth threshold value.
9. zero-speed section detecting method as claimed in claim 7 adaptive, which is characterized in that the S520 step includes:
Acceleration zero-speed detection successively is carried out to initial zero section test point according to the acceleration amplitude threshold value, is obtained
The initial zero section test point of all zero acceleration modes；
The amendment zero-speed section is generated according to the initial zero section test point of all zero acceleration modes.
10. zero-speed section detecting method as described in claim 1 adaptive, which is characterized in that the step S2 includes:
S210: the angular speed energy of n (n >=1) a test point before being calculated according to the angular velocity information；
S220: according to the angular speed energy balane angular speed average energy value μωWith angular speed energy scale difference σω；
S230: according to the angular speed average energy value μωWith the angular speed energy scale difference σωDetermine the initial angular velocity energy
Measure threshold value Tω。
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