CN114034297A - An adaptive zero-speed interval determination method - Google Patents

An adaptive zero-speed interval determination method Download PDF

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CN114034297A
CN114034297A CN202111230695.9A CN202111230695A CN114034297A CN 114034297 A CN114034297 A CN 114034297A CN 202111230695 A CN202111230695 A CN 202111230695A CN 114034297 A CN114034297 A CN 114034297A
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speed
acceleration
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foot
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苗宏胜
李海军
孙伟
蒋荣
王鹏宇
裴玉锋
徐西京
徐海刚
郑辛
纪志农
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Beijing Automation Control Equipment Institute BACEI
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
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    • G06F18/214—Generating training patterns; Bootstrap methods, e.g. bagging or boosting
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
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    • G06F18/24—Classification techniques
    • G06F18/241—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches
    • G06F18/2411—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches based on the proximity to a decision surface, e.g. support vector machines

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Abstract

本发明公开了一种自适应零速区间判定方法，将微惯性测量单元固定在行人脚部，采集多组行人在不同运动状态下脚部的加速度、角速率，对其进行降噪处理后统计各零速时刻和非零速时刻步态周期内加速度的峰值，以提取运动状态表征量；基于各零速时刻和非零速时刻步态周期内的运动状态表征量及加速度、角速率，构造训练样本集；采用支持向量机算法对零速点和非零速点进行分类，并求解边界条件及构造决策函数；根据当前步态周期微惯性测量单元输出的加速度的峰值并自适应调整下一周期零速检测的判据，并判断当前是否为零速状态，进而实现对零速区间的判定。本发明提高了零速检测准确率，进而提高了行人自主导航精度。

Figure 202111230695

The invention discloses an adaptive zero-speed interval determination method. A micro-inertial measurement unit is fixed on a pedestrian's foot, the acceleration and angular velocity of the feet of a plurality of groups of pedestrians in different motion states are collected, and the noise reduction processing is performed on the The peak value of acceleration in the gait cycle at the time of zero speed and the time of non-zero speed is used to extract the representation of the motion state; based on the representation of the motion state, acceleration and angular rate in the gait cycle at the time of zero speed and non-zero speed, the training is constructed. Sample set; use the support vector machine algorithm to classify the zero-speed point and non-zero-speed point, and solve the boundary conditions and construct the decision function; according to the peak value of the acceleration output by the micro-inertial measurement unit in the current gait cycle and adaptively adjust the next cycle Criteria for zero-speed detection, and determine whether the current zero-speed state, and then realize the determination of the zero-speed interval. The invention improves the zero-speed detection accuracy, thereby improving the pedestrian autonomous navigation accuracy.

Figure 202111230695

Description

Self-adaptive zero-speed interval judgment method
Technical Field
The invention belongs to the field of pedestrian micro autonomous navigation, and relates to a self-adaptive zero-speed interval judgment method.
Background
When the traditional pedestrian navigation technology based on zero speed correction is used for zero speed detection, a fixed threshold value zero speed detection criterion is usually adopted, when the output angular rate of the micro-inertia measurement unit, the amplitude value and the standard deviation of acceleration are smaller than a certain fixed threshold value, the current state is judged to be in a zero speed state, and when a pedestrian performs high-dynamic motion (such as running and jumping), misjudgment and missed judgment are easily caused.
Disclosure of Invention
The invention aims to provide a zero-speed detection method with high accuracy and strong adaptability, so as to solve the problems that the traditional fixed threshold zero-speed detection algorithm is easy to cause misjudgment and missed judgment in a complex motion state and improve the precision of a pedestrian micro autonomous navigation system.
In order to solve the technical problem, the invention provides a self-adaptive zero-speed interval judgment method, which adopts the following technical scheme:
fixing a micro-inertia measurement unit on the foot of a pedestrian, collecting the acceleration and angular rate of the foot of a plurality of groups of pedestrians in different motion states, carrying out noise reduction processing on the acceleration and angular rate, and then carrying out statistics on the peak values of the acceleration in gait cycles at each zero-speed moment and non-zero-speed moment so as to extract the motion state characterization quantity;
constructing a training sample set based on the motion state characteristic quantity, the acceleration and the angular rate in each zero-speed moment and non-zero-speed moment gait cycle;
classifying the zero-velocity points and the non-zero-velocity points by adopting a support vector machine algorithm, and solving boundary conditions to obtain decision functions of the zero-velocity points and the non-zero-velocity points;
and adaptively adjusting the zero-speed detection threshold of the next period according to the peak value of the acceleration output by the micro-inertia measurement unit in the current gait period, and judging whether the current zero-speed state is the zero-speed state, thereby realizing the judgment of the zero-speed interval.
The method has the beneficial effects that the method adopts a support vector machine algorithm to classify the foot angular velocity and the acceleration of the pedestrian in the zero-velocity state and the non-zero-velocity state, adaptively adjusts the zero-velocity detection criterion, improves the zero-velocity detection accuracy and the adaptability to complex gait, and further improves the autonomous navigation precision of the pedestrian.
Drawings
Fig. 1 is a block diagram illustrating a basic principle of an adaptive zero-speed interval determination method according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. 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 invention.
As shown in fig. 1, the adaptive zero-speed interval determination method provided by the present invention is as follows:
fixing a micro-inertia measurement unit on the foot of a pedestrian, collecting the acceleration and angular rate of the foot of a plurality of groups of pedestrians in different motion states (including walking, running, jumping and the like), carrying out noise reduction treatment on the acceleration and angular rate, and then carrying out statistics on the peak values of the acceleration in gait cycles at each zero-speed moment and non-zero-speed moment to extract the motion state characterization quantity;
constructing a training sample set based on the motion state characteristic quantity, the acceleration and the angular rate in each zero-speed moment and non-zero-speed moment gait cycle;
classifying the zero-velocity point and the non-zero-velocity point by adopting a support vector machine algorithm, and solving a boundary condition, namely a functional relation between a zero-velocity detection threshold value and acceleration and angular rate peak values;
and the threshold value of the zero-speed detection of the next period is adaptively adjusted according to the peak value of the acceleration output by the micro-inertia measurement unit in the current gait period, and whether the current zero-speed state is the zero-speed state is judged, so that the judgment of a zero-speed interval is realized, the probability of erroneous judgment and missed judgment is reduced, and the accuracy and the adaptability of the zero-speed detection are improved.
In some embodiments of the present invention, the motion state characteristic amount extraction method includes:
(1) raw inertial data acquisition
The micro-inertia measurement unit is fixed on the foot of the pedestrian, and a plurality of groups of raw data of the angular velocity and the acceleration of the foot of the pedestrian under different motion states (including walking, running, jumping and the like) are collected.
(2) Motion state characterization quantity extraction
Calculating the vertical acceleration of the noise-reduced foot after deducting the gravity acceleration at the time t as follows:
At＝at-g
wherein a istThe vertical acceleration is acquired at the moment t, and g is the local gravity acceleration. Setting a certain window, and finding A in the windowtPeak value of (a):
Figure BDA0003315809070000031
wherein T isvIs the window width. Since the foot needs to move faster as the moving speed increases during walking, the peak value of the acceleration of the foot increases in the non-zero speed interval of the gait cycle. Thus can be used
Figure BDA0003315809070000032
The state of motion is characterized in that,
Figure BDA0003315809070000033
the larger the movement speed is.
In some embodiments of the present invention, the training sample set constructing method is as follows:
classifying and marking the collected foot angular rate and acceleration of the pedestrian under different motion states according to whether the foot angular rate and the acceleration are in a zero-speed state, and constructing a training sample set as follows:
Figure BDA0003315809070000041
Figure BDA0003315809070000042
Figure BDA0003315809070000043
Figure BDA0003315809070000044
wherein, ω istIs a model of the angular velocity of the foot of a pedestrian,
Figure BDA0003315809070000045
respectively is the standard deviation of the acceleration and the angular rate, and N is the sample capacity of the training set; z is a radical ofn0 or 1, zn0 denotes a non-zero velocity state, zn1 represents the zero speed state.
Further, a support vector machine algorithm is adopted for TA、Tω、
Figure BDA0003315809070000046
Classifying to obtain the boundary between zero-speed state and non-zero-speed state under different motion states, and determining the boundarySolving the expression, wherein the expression of the boundary condition is as follows:
Figure BDA0003315809070000047
Figure BDA0003315809070000048
Figure BDA0003315809070000049
Figure BDA00033158090700000410
wherein, phi ([ A ]p A]T)、Φ(Ap ω]T)、Φ(Ap σA]T)、Φ(Ap σω]T) Are respectively [ A ]p A]T、[Ap ω]T、[Ap σA]T、[Ap σω]TMapping to a high dimension.
Further, a decision function is constructed according to the boundary conditions
Figure BDA00033158090700000411
Figure BDA0003315809070000051
Figure BDA0003315809070000052
Figure BDA0003315809070000053
If A of the foot of the pedestrian at a certain momentt、ωt、
Figure BDA0003315809070000054
At the same time satisfy
Figure BDA0003315809070000055
The current state is considered as the zero speed state, otherwise, the state is the non-zero speed state.
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.

Claims (5)

1. A self-adaptive zero-speed interval determination method is characterized in that,
fixing a micro-inertia measurement unit on the foot of a pedestrian, collecting the acceleration and angular rate of the foot of a plurality of groups of pedestrians in different motion states, carrying out noise reduction processing on the acceleration and angular rate, and then carrying out statistics on the peak values of the acceleration in gait cycles at each zero-speed moment and non-zero-speed moment so as to extract the motion state characterization quantity;
constructing a training sample set based on the motion state characteristic quantity, the acceleration and the angular rate in each zero-speed moment and non-zero-speed moment gait cycle;
classifying the zero-velocity points and the non-zero-velocity points by adopting a support vector machine algorithm, and solving boundary conditions to obtain decision functions of the zero-velocity points and the non-zero-velocity points;
and adaptively adjusting the zero-speed detection threshold of the next period according to the peak value of the acceleration output by the micro-inertia measurement unit in the current gait period, and judging whether the current zero-speed state is the zero-speed state, thereby realizing the judgment of the zero-speed interval.
2. The adaptive zero-velocity interval decision method according to claim 1, wherein the motion state characteristic quantity extraction method is:
calculating the vertical acceleration A after the noise reduction by deducting the gravity acceleration at the time tt(ii) a Setting a certain window, and finding A in the windowtPeak value of
Figure FDA0003315809060000011
Namely the motion state characterization quantity.
3. The adaptive zero-velocity interval decision method according to claim 1 or 2, wherein the training sample set construction method is as follows:
classifying and marking the collected foot angular rate and acceleration of the pedestrian under different motion states according to whether the foot angular rate and the acceleration are in a zero-speed state, and constructing a training sample set as follows:
Figure FDA0003315809060000012
Figure FDA0003315809060000013
Figure FDA0003315809060000014
Figure FDA0003315809060000015
wherein, ω istIs a model of the angular velocity of the foot of a pedestrian,
Figure FDA0003315809060000021
respectively is the standard deviation of the acceleration and the angular rate, and N is the sample capacity of the training set; z is a radical ofnEither 0 or 1, represents a non-zero speed state and a zero speed state.
4. According toThe adaptive zero-speed interval decision method of claim 3, characterized by using a support vector machine algorithm for TA、Tω、
Figure FDA0003315809060000022
And classifying to obtain the boundary between the zero-speed state and the non-zero-speed state under different motion states, wherein the boundary condition expression form is as follows:
Figure FDA0003315809060000023
Figure FDA0003315809060000024
Figure FDA0003315809060000025
Figure FDA0003315809060000026
wherein, phi ([ A ]p A]T)、Φ([Ap ω]T)、Φ([Ap σA]T)、Φ([Ap σω]T) Are respectively [ A ]p A]T、[Ap ω]T、[Ap σA]T、[Ap σω]TMapping to a high dimension.
5. The adaptive zero-speed interval decision method according to claim 4, wherein a decision function is constructed based on boundary conditions plus:
Figure FDA0003315809060000027
Figure FDA0003315809060000028
Figure FDA0003315809060000029
Figure FDA00033158090600000210
if A of the foot of the pedestrian at a certain momentt、ωt、
Figure FDA0003315809060000031
At the same time satisfy
Figure FDA0003315809060000032
The current state is considered as the zero speed state, otherwise, the state is the non-zero speed state.
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