CN113790735A - Pedestrian single-step division method in complex motion state - Google Patents
Pedestrian single-step division method in complex motion state Download PDFInfo
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Abstract
The invention provides a single-step division method for a person walking in a complex motion state, which comprises the steps of firstly, acquiring acceleration and angular velocity data in various advancing states and non-advancing states, calculating vertical acceleration to perform zero-crossing detection, and extracting a wave peak value and a wave trough value of the acceleration based on a zero-crossing point; then, introducing time-frequency constraint based on the experience value of the gait cycle, introducing amplitude constraint based on the minimum threshold of the acceleration peak value, and judging whether the peak-valley value meets two constraint conditions; in addition, a pitch angle is calculated through angular velocity data, a pitch angle constraint is established, whether the pedestrian is in a squatting state or not is judged, forward and vertical acceleration information is collected, a two-dimensional acceleration constraint is established, and whether the pedestrian is in an in-situ jumping state or not is judged; and determining whether the two adjacent zero-crossing point intervals containing the wave crest and the wave trough contain the effective single step or not and dividing the effective single step through the judgment. The method can effectively improve the single-step division precision and realize high-precision dead reckoning of the descending person in the complex motion state.
Description
Technical Field
The invention belongs to the technical field of pedestrian navigation based on micro inertial sensors, and particularly relates to a pedestrian single-step division method in a complex motion state.
Background
The single step division is the basis of dead reckoning of pedestrians based on inertial information, and the specific methods include a peak value detection method, a threshold value method, a sliding average value method and the like. When the traditional pedestrian dead reckoning technology utilizes a peak detection method to perform single-step division, a peak point of acceleration or angular velocity needs to be found, and the distance between two adjacent peaks is regarded as one step.
Disclosure of Invention
The invention aims to provide a pedestrian single-step division method in a complex motion state, which can effectively improve the pedestrian single-step division precision and dead reckoning precision and solve the problem of interference of non-advancing motion on single-step division in the process.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention provides a pedestrian single-step division method in a complex motion state, which comprises the following steps
Acquiring acceleration and angular velocity data in various traveling states and non-traveling states;
calculating vertical acceleration to perform zero-crossing detection, and extracting a wave peak value and a wave trough value of the acceleration based on a zero-crossing point;
establishing time-frequency constraint based on the experience value of the gait cycle, establishing amplitude constraint based on the minimum threshold of the acceleration peak value, and judging whether the time difference between the acceleration peak and the acceleration amplitude meet two constraint conditions;
establishing pitch angle constraint based on an empirical value of pitch angle change in the squatting process, calculating a pitch angle according to angular velocity data, and judging whether the pitch angle meets the constraint condition;
establishing two-dimensional acceleration constraint based on an empirical value of acceleration change in the jumping process, calculating forward acceleration and vertical acceleration, and judging whether the acceleration in the two directions meets the constraint condition;
and judging whether two adjacent zero-crossing intervals containing wave crests and wave troughs contain effective single steps or not according to the constraint conditions and dividing.
Further, the pedestrian single-step division method further comprises the step of updating the single-step detection interval by adopting a dynamic sliding window method.
Further, the method for judging whether two adjacent zero-crossing intervals including the peak and the trough contain the effective single step includes: if the data collected in the two adjacent intervals meet time-frequency constraint and amplitude constraint but do not meet pitch angle constraint and two-dimensional acceleration constraint, the two adjacent intervals contain effective single step; and if the acquired data in the two adjacent intervals do not meet at least one of the time-frequency constraint and the amplitude constraint or meet at least one of the pitch angle constraint and the two-dimensional acceleration constraint, the two adjacent intervals do not contain the effective single step.
Further, the traveling motion comprises walking and running, and the non-traveling motion comprises shaking, pivot circling, squatting and jumping on the spot.
Further, the zero crossing detection method specifically includes
Calculating the vertical acceleration at time t as
wherein ,
the vertical acceleration is acquired at the moment t, and g is the local standard gravity acceleration;
when the following conditions are satisfied:
At-TAT≤0
note AtIs composed of
I.e. zero crossing, corresponding time
For zero-crossing time, zero-crossing points are calculated in sequence
And corresponding zero-crossing time
T is the sampling period.
Further, the method for extracting the wave peak value and the wave trough value of the acceleration comprises the following steps
Find out
Peak value of acceleration signal in two zero crossing point interval
And valley value
And corresponding zero-crossing time
wherein ,|At|maxRepresents the maximum value of the absolute value of the acceleration within the zero crossing point interval, S1、S2Respectively positive and negative.
Further, the time-frequency constraint is as follows
wherein ,ThOn the upper part、ThLower partThe gait cycle is an upper and lower limit empirical value;
the amplitude is constrained to
wherein ,AexpRepresents the minimum threshold of the acceleration peak, ADRepresenting the peak-to-valley difference maximum threshold.
Further, the pitch angle constraint is
Wherein, pitchinitIs the initial pitch angle of the human body when standing, pitchtThe pitch angle (pitch) calculated by using the collected angular velocity at time tt)minIs pitch angle pitchtIn that
Minimum value in interval, DexpIs an empirical threshold.
Further, the two-dimensional acceleration is constrained to
wherein ,axtIs the forward acceleration of the pedestrian at time t,
and
are respectively as
And
in the interval
Maximum value of，Mexp1 and Mexp2Is an empirical threshold.
Further, if
The interval contains effective single step, the adjacent peak points are divided into one single step, and the next detection interval is updated to be
If it is not
The interval does not contain valid single step, and the next detection interval is updated to
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a pedestrian single-step division method in a complex motion state, which greatly improves single-step division precision by introducing time-frequency constraint, amplitude constraint, pitch angle constraint and two-dimensional acceleration constraint and realizes high-precision dead reckoning of pedestrians in the complex motion state.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic diagram of a pedestrian single-step classification method in a complex motion state according to an embodiment of the present invention.
Detailed Description
The following provides a detailed description of specific embodiments of the present invention. In the following description, for purposes of explanation and not limitation, specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the device structures and/or processing steps closely related to the scheme of the present invention are shown in the drawings, and other details not so related to the present invention are omitted.
The single step division is the basis for the pedestrian to perform dead reckoning based on inertial information. In a complex motion state, in order to eliminate the interference of various non-advancing motion modes, two conditions of time-frequency constraint and amplitude constraint are introduced to judge whether an acceleration peak-valley interval is an effective single step, pitch angle constraint and two-dimensional acceleration constraint are proposed to distinguish dual-launch squatting and in-place jumping non-advancing motions, and the single step division precision can be greatly improved. The method is particularly suitable for solving the application requirement of high-precision positioning and navigation of the descending person in a complex motion state.
The basic principle of the invention is as follows: binding the micro inertial sensor to the waist, and acquiring acceleration and angular velocity data in various traveling states and non-traveling states; performing zero-crossing detection by using the vertical acceleration signal, and extracting values of wave crests and wave troughs based on zero-crossing points; introducing time-frequency constraint based on the experience value of the gait cycle, introducing amplitude constraint based on the minimum threshold of the acceleration peak value, and judging whether the peak valley value meets two constraint conditions; calculating a pitch angle based on the collected angular velocity data, and introducing a pitch angle constraint to judge whether the pedestrian is in a squatting state or not; introducing two-dimensional acceleration constraint based on the collected forward acceleration information and vertical acceleration information, and judging whether the pedestrian is in an in-place jumping state; and judging whether the interval contains the effective single step or not based on the 4 judging conditions, dividing the interval, and updating the single step detection interval by adopting a dynamic sliding window method.
The invention provides a pedestrian single-step division method in a complex motion state, which specifically comprises the following steps:
acquiring acceleration and angular velocity data in various traveling states and non-traveling states;
calculating a vertical acceleration signal to perform zero-crossing detection, and extracting a wave peak value and a wave valley value of the acceleration signal based on a zero-crossing point;
establishing time-frequency constraint based on the experience value of the gait cycle, establishing amplitude constraint based on the minimum threshold of the acceleration peak value, and judging whether the time difference and the amplitude between the acceleration peak and the acceleration valley meet two constraint conditions;
establishing pitch angle constraint based on an empirical value of pitch angle change in the squatting process, calculating a pitch angle according to angular velocity data, and judging whether the pitch angle meets the constraint condition;
establishing two-dimensional acceleration constraint based on an empirical value of acceleration change in the jumping process, calculating forward acceleration information and vertical acceleration information, and judging whether the acceleration in two directions meets constraint conditions;
and judging whether two adjacent zero-crossing intervals containing wave crests and wave troughs contain effective single steps or not according to the constraint conditions and dividing.
The method for judging whether the effective single step is included is as follows: if the inertia data in the two adjacent intervals meet the time-frequency constraint and the amplitude constraint but do not meet the pitch angle constraint and the two-dimensional acceleration constraint, the two adjacent intervals contain the effective single step, and if the inertia data in the two adjacent intervals do not meet at least one of the time-frequency constraint and the amplitude constraint or meet at least one of the pitch angle constraint and the two-dimensional acceleration constraint, the two adjacent intervals do not contain the effective single step.
Meanwhile, the pedestrian single-step division method in the complex motion state can also adopt a dynamic sliding window method to update the single-step detection interval.
The technical solution of the present invention is explained in detail with reference to a specific embodiment. As shown in fig. 1, the specific method is as follows:
(1) inertial data acquisition
The micro inertial sensor is bound on the waist of a pedestrian, and original inertial data of various advancing motion states and non-advancing motion states are collected, wherein the advancing motion comprises walking, running and other actions, and the non-advancing motion comprises shaking, pivot rotating, squatting, pivot jumping and other actions.
(2) Zero crossing detection
Calculating the vertical acceleration of subtracting the gravity acceleration at the time t as follows:
wherein ,
the vertical acceleration is acquired at the moment t, and g is the local standard gravity acceleration. The sampling period is denoted by T, when the following condition is satisfied:
At-TAT≤0
note AtIs composed of
I.e. zero crossing, corresponding time
Is the zero crossing time. Caching in sequence
And record the corresponding time
(3) Extracting peak-to-valley values
Find out
Peak value of acceleration signal in two zero crossing point interval
And valley value
And record the corresponding time
Sign S1 and S2Namely:
wherein ,|At|maxThe maximum value of the absolute value of the acceleration in the interval is shown.
(4) Multi-conditional amplitude-frequency detection
In order to eliminate the interference of non-advancing motion modes such as in-situ shaking and circling and avoid false detection and false detection of local false values caused by body shaking, two conditions of time-frequency constraint and amplitude constraint are introduced to judge an effective single step based on the found acceleration peak-valley value. Since the time difference between the acceleration peaks and valleys is half of the single step period, the time-frequency constraint is:
wherein ,ThOn the upper part、ThLower partThe gait cycle is an upper and lower limit empirical value.
The amplitude constraints for an effective single step are:
wherein ,AexpRepresents the minimum threshold of the acceleration peak, ADRepresenting the peak-to-valley difference maximum threshold.
The pedestrian non-advancing motion mode comprises actions of squatting, in-situ jumping and the like, the amplitude is large, the regularity is strong, and the characteristics of the original inertia data waveform, such as the period, the peak value size, the peak value symmetry and the like are easily confused with the advancing motion mode, so that pitch angle constraint and two-dimensional acceleration constraint are introduced on the basis of zero-crossing interval multi-condition amplitude-frequency detection, the interference of the non-advancing motion mode is eliminated, and the steps are specifically the step (5) and the step (6).
(5) Pitch angle constraint
To exclude in situAnd introducing pitch angle restraint due to the influence of the squatting action. Watch notetThe pitch angle solved by the collected angular velocity at time t is constrained as follows:
wherein, pitchinitIs the initial pitch angle (pitch) of the human body when standingt)minIs pitch angle pitchtIn that
Minimum value in interval, DexpIs an empirical threshold. If the zero-crossing interval simultaneously meets the amplitude-frequency constraint and the pitch angle constraint of a plurality of conditions, the pedestrian is in an in-situ squatting state, and an effective single step is not included.
(6) Two dimensional acceleration constraint
To exclude the effect of the jump-in-place action, a two-dimensional acceleration constraint is introduced. Note axtAnd if the forward acceleration of the pedestrian at the time t is obtained, the two-dimensional acceleration constraint is as follows:
wherein ,
and
are respectively as
And
in the interval
Maximum value of, Mexp1 and Mexp2Is an empirical threshold. If the zero-crossing interval simultaneously meets the multiple condition amplitude-frequency constraint and the two-dimensional acceleration constraint, the pedestrian is in an in-place jumping state and does not contain effective single step.
(7) Single step detection interval update
The method for updating the zero-crossing interval of single-step detection by using a dynamic sliding window method is divided into two cases including an effective single step and not including the effective single step:
if it is not
Inertia data in an interval meets time-frequency constraint and amplitude constraint but does not meet pitch angle constraint and two-dimensional acceleration constraint, the pedestrian is in a traveling motion state, the interval contains effective single steps, adjacent peak points are divided into one single step, and the next detection interval is updated to be one single step
If it is not
Inertia data in the interval does not satisfy time frequency constraint or amplitude constraint, or satisfies pitch angle constraint or two-dimensional acceleration constraint on the basis of satisfying amplitude frequency constraint, which indicates that the pedestrian is in a non-advancing motion state, the interval does not contain effective single step, and the next detection interval is updated to be
And (5) after the detection interval is updated, repeating the steps (2) to (6), and so on to realize single-step division.
In order to eliminate the interference of various non-advancing motion modes, the invention provides a zero-crossing interval multi-condition amplitude-frequency detection method based on two conditions of time-frequency constraint and amplitude constraint, and simultaneously distinguishes confusable non-advancing actions by combining pitch angle constraint and two-dimensional acceleration constraint, thereby further improving the single-step division precision. The pedestrian single-step division method greatly improves the dead reckoning precision of the pedestrian in the complex motion state.
Features that are described and/or illustrated above with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.
The many features and advantages of these embodiments are apparent from the detailed specification, and thus, it is intended by the appended claims to cover all such features and advantages of these embodiments which fall within the true spirit and scope thereof. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the embodiments of the invention to the exact construction and operation illustrated and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope thereof.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
The invention has not been described in detail and is in part known to those of skill in the art.
Claims (10)
1. A pedestrian single-step division method in a complex motion state is characterized by comprising the following steps of collecting acceleration and angular velocity data in various traveling states and non-traveling states;
calculating vertical acceleration to perform zero-crossing detection, and extracting a wave peak value and a wave trough value of the acceleration based on a zero-crossing point;
establishing time-frequency constraint based on the experience value of the gait cycle, establishing amplitude constraint based on the minimum threshold of the acceleration peak value, and judging whether the time difference between the acceleration peak and the acceleration amplitude meet two constraint conditions;
establishing pitch angle constraint based on an empirical value of pitch angle change in the squatting process, calculating a pitch angle according to angular velocity data, and judging whether the pitch angle meets the constraint condition;
establishing two-dimensional acceleration constraint based on an empirical value of acceleration change in the jumping process, calculating forward acceleration and vertical acceleration, and judging whether the acceleration in the two directions meets the constraint condition;
and judging whether two adjacent zero-crossing intervals containing wave crests and wave troughs contain effective single steps or not according to the constraint conditions and dividing.
2. The pedestrian single-step classification method in the complex motion state as claimed in claim 1, further comprising updating a single-step detection interval by adopting a dynamic sliding window method.
3. The pedestrian single-step dividing method in the complex motion state as claimed in claim 2, wherein the method for judging whether the two adjacent zero-crossing point intervals including the peak and the trough contain the effective single step is as follows: if the data collected in the two adjacent intervals meet time-frequency constraint and amplitude constraint but do not meet pitch angle constraint and two-dimensional acceleration constraint, the two adjacent intervals contain effective single step; and if the acquired data in the two adjacent intervals do not meet at least one of the time-frequency constraint and the amplitude constraint or meet at least one of the pitch angle constraint and the two-dimensional acceleration constraint, the two adjacent intervals do not contain the effective single step.
4. The pedestrian stepping method of claim 1, wherein the walking motion comprises walking and running, and the non-walking motion comprises shaking, rolling on the ground, squatting, jumping on the ground.
5. The pedestrian single-step classification method in the complex motion state as claimed in claim 1, wherein the zero-crossing detection method specifically comprises
Calculating the vertical acceleration at time t as
wherein ,
the vertical acceleration is acquired at the moment t, and g is the local standard gravity acceleration;
when the following conditions are satisfied:
At-TAT≤0
note AtIs composed of
I.e. zero crossing, corresponding time
For zero-crossing time, zero-crossing points are calculated in sequence
And corresponding zero-crossing time
T is the sampling period.
6. The pedestrian single-step division method in the complex motion state as claimed in claim 5, wherein said method for extracting the wave peak value and the wave trough value of the acceleration comprises
Find out
Peak value of acceleration signal in two zero crossing point interval
And valley value
And corresponding zero-crossing time
wherein ,|At|maxRepresents the maximum value of the absolute value of the acceleration within the zero crossing point interval, S1、S2Respectively positive and negative.
7. The pedestrian single-step classification method in the complex motion state as claimed in claim 6, wherein the time-frequency constraint is
wherein ,ThOn the upper part、ThLower partThe gait cycle is an upper and lower limit empirical value;
the amplitude is constrained to
wherein ,AexpRepresents the minimum threshold of the acceleration peak, ADRepresenting the peak-to-valley difference maximum threshold.
8. The pedestrian stepping method under complex motion conditions of claim 7, wherein the pitch angle constraint is
Wherein, pitchinitIs the initial pitch angle of the human body when standing, pitchtThe pitch angle (pitch) calculated by using the collected angular velocity at time tt)minIs pitch angle pitchtIn that
Minimum value in interval, DexpIs an empirical threshold.
9. The pedestrian single-step classification method in the complex motion state as claimed in claim 8, wherein the two-dimensional acceleration is constrained to be
wherein ,
is the forward acceleration of the pedestrian at time t,
and
are respectively as
And
in the interval
Maximum value of, Mexp1 and Mexp2Is an empirical threshold.
10. The pedestrian stepping method of claim 8, wherein the step of the pedestrian is performed if the step is performed in a complex motion state
The interval contains effective single step, the adjacent peak points are divided into one single step, and the next detection interval is updated to be
If it is not
The interval does not contain valid single step, and the next detection interval is updated to
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