CN114459460A - Indoor staircase pedestrian positioning device and method - Google Patents
Indoor staircase pedestrian positioning device and method Download PDFInfo
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- CN114459460A CN114459460A CN202210017302.4A CN202210017302A CN114459460A CN 114459460 A CN114459460 A CN 114459460A CN 202210017302 A CN202210017302 A CN 202210017302A CN 114459460 A CN114459460 A CN 114459460A
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 21
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- 210000002414 leg Anatomy 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 4
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention discloses an indoor staircase pedestrian positioning device and method; an indoor staircase pedestrian positioning device comprises a first gyroscope for measuring thigh motion amplitude, wherein the first gyroscope is communicated with an upper computer; the system also comprises a positioning terminal for assisting in judging the behavior of going upstairs and downstairs, and the positioning terminal is also communicated with the upper computer. The pedestrian positioning method improves the pedestrian positioning algorithm, can set calculation basis according to different pedestrians, and is higher in positioning accuracy and more convenient to calculate. Compared with multi-node positioning equipment, the multi-node positioning equipment adopts 4 single-axis gyroscopes and two barometers, so that the equipment cost is greatly reduced.
Description
Technical Field
The invention relates to an indoor pedestrian positioning method, in particular to an indoor staircase pedestrian positioning device and method.
Background
The existing positioning technology is widely applied in daily life, and people can acquire indoor pedestrian position information by using positioning technologies such as WIFI, UWB and inertial navigation. Positioning technologies such as WIFI and UWB need to be arranged for signal sources in advance, flexibility is lacked, inertial navigation can be independent of other signal sources, and human body posture information can be settled passively and autonomously in real time, so that the method and the device are widely applied to pedestrian positioning. When the inertial positioning is used, the position information of pedestrians is settled by using a PDR algorithm, but the PDR algorithm is limited in applicable scene, and the positioning accuracy is seriously reduced when stairs go upstairs and downstairs in a staircase; the human body multi-node positioning equipment is complex in design, high in requirement on data real-time performance, expensive in overall equipment price and not suitable for low-cost large-scale equipment application.
Disclosure of Invention
The present invention aims to solve the above problems, and provides an indoor staircase pedestrian positioning device and method, which can calculate the height and step length of a staircase according to the thigh length of different pedestrians and the thigh movement amplitude during going upstairs and downstairs, and has the advantages of simple calculation and high positioning accuracy.
In order to achieve the purpose, the invention adopts the following technical scheme:
an indoor staircase pedestrian positioning device comprises a first gyroscope for measuring thigh motion amplitude, wherein the first gyroscope is communicated with an upper computer;
the system also comprises a positioning terminal for assisting in judging the behavior of going upstairs and downstairs, and the positioning terminal is also communicated with the upper computer.
The positioning terminal comprises a barometer and a second gyroscope which are integrated together, and the barometer and the second gyroscope are both communicated with the upper computer.
The first gyroscope adopts two single-axis gyroscopes.
The positioning method of the indoor staircase pedestrian positioning device comprises the following steps:
inputting the length l of the upper part of the leg of the pedestrian to be positioned into an upper computer;
step two, installing the positioning terminal in a shoe of a pedestrian to be positioned, and detecting whether stepping is finished or not and whether going upstairs or downstairs is finished or not;
thirdly, arranging a first gyroscope on the outer side of the thigh of the pedestrian to be positioned, and measuring an included angle theta between the thigh and the gravity direction when the striding is completed;
step four, when the step two detects that the striding is finished, calculating the step length and the height of each layer of stairs according to the data of the step three and the step one;
and fifthly, when the step two detects that the upstairs and downstairs are finished, positioning the position of the pedestrian in the staircase according to the step length obtained by calculation in the step four and the height of each layer of stairs.
And in the second step, the positioning terminals are respectively installed in the shoes of the left foot and the right foot of the walker.
When the barometer measuring value in the positioning terminal changes within a set time, the pedestrian goes upstairs and downstairs to play a role in assisting in judging the upstairs and downstairs behaviors;
when the barometer measurement value is stable within a set time and does not change suddenly, the pedestrian has finished going upstairs and downstairs.
And a second gyroscope in the positioning terminal changes along with the up-and-down movement value, and when the measured value is less than plus or minus 5 degrees, the pedestrian completes a stride.
And in the third step, the first gyroscopes are respectively attached to the outer sides of the thighs of the pedestrians in the direction vertical to the ground.
In the fourth step, the calculation method of the step length is l multiplied by sin theta;
the calculation method of the stair step height is l multiplied by cos theta.
And in the fifth step, the step length and the stair layer height obtained by calculation in the fourth step are respectively accumulated, and the position of the pedestrian in the staircase is positioned according to the accumulated value.
The invention has the beneficial effects that:
the pedestrian positioning method improves the pedestrian positioning algorithm, can set calculation basis according to different pedestrians, and is higher in positioning accuracy and more convenient to calculate. Compared with multi-node positioning equipment, the multi-node positioning equipment adopts 4 single-axis gyroscopes and two barometers, so that the equipment cost is greatly reduced.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic calculation diagram according to an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
An indoor staircase pedestrian positioning device comprises a first gyroscope for measuring thigh motion amplitude, wherein the first gyroscope is communicated with an upper computer; the system also comprises a positioning terminal for assisting in judging the behavior of going upstairs and downstairs, and the positioning terminal is also communicated with the upper computer.
The positioning terminal comprises a barometer and a second gyroscope which are integrated together, and the barometer and the second gyroscope are both communicated with the upper computer.
The first gyroscope adopts two single-axis gyroscopes.
Two angle measuring devices, namely single-shaft gyroscopes, are respectively attached to the outer sides of thighs of a tester in the direction perpendicular to the ground, and then positioning terminals (comprising barometers and gyroscopes) are respectively installed in left and right shoes of a pedestrian. The barometer at the foot positioning terminal assists in judging the behavior of going upstairs and downstairs, and the two single-axis gyroscopes measure the motion amplitude of thighs when pedestrians go upstairs. When the gyroscope in the foot positioning terminal detects that the angle is smaller than a certain value, the pedestrian is considered to complete a stride at the moment, then the angle measured by the leg gyroscope is recorded and settled, the thigh length is multiplied by the cosine of the angle to obtain the height of each layer of the stair by utilizing the pythagorean theorem, the step length of the pedestrian can be obtained by multiplying the thigh length by the sine of the angle, when the value of the barometer is stable, the action of going upstairs and downstairs is ended, and the step length and the layer height obtained by each stride are accumulated to obtain the position of the pedestrian in the stair.
The positioning method using the indoor staircase pedestrian positioning device, as shown in fig. 1, comprises the following steps:
(1) the length of the upper part of the leg of the pedestrian is measured and is input into the upper computer to be used as a calculation basis for the stride size of the pedestrian when going upstairs and downstairs.
(2) The outer sides of the thighs of the pedestrians are respectively attached with two single-axis gyroscopes perpendicular to the ground, and the two single-axis gyroscopes are used for measuring the motion amplitude of the thighs when the pedestrians go upstairs.
(3) The method comprises the following steps that positioning terminals (comprising barometers and gyroscopes) are respectively installed in left and right shoes of a pedestrian, wherein the measurement value of the barometer changes within a certain time, so that the pedestrian can be considered to be going upstairs and downstairs, and the function of assisting in judging the behavior of going upstairs and downstairs is achieved; and the gyroscope in the foot positioning terminal changes along with the up-and-down movement value, and when the measured value is less than plus or minus 5 degrees, the pedestrian is considered to finish a stride at the moment.
(4) Shank unipolar and foot terminal communicate with the host computer, and the terminal gives the host computer with attitude information transfer in real time, and the host computer settles pedestrian's positional information according to attitude information.
(5) When a pedestrian starts walking by opening the positioning terminal and the air pressure gauge in the foot shoe changes suddenly, the pedestrian is judged to be going upstairs or downstairs.
(6) Take the example that the pedestrian climbs the left foot first to go upstairs. As shown in fig. 2, at this time, the right leg of the pedestrian is used as a supporting leg, the left leg strides over the step, in the process, the gyroscope on the left leg is used for measuring the striding angle of the pedestrian all the time, when the left foot steps on the step and the angle measuring range of the gyroscope on the foot part of the left foot is smaller than plus or minus 5 degrees, the striding of the left foot is considered to be finished, and the angle theta measured by the gyroscope on the leg part at this time is calculated. If the thigh length of the pedestrian is l, the thigh length is multiplied by the cosine of the angle by using the pythagorean theorem to obtain the height of each layer of stairs, namely h1The length of the thigh multiplied by the sine of the angle gives the step size, i.e. S1L × sin θ. Similarly, when the right foot strides out, the step length S can be obtained2And the height l of the stairs2And repeating the steps until the whole upstairs and downstairs movement is finished or the device stops at a certain position in a staircase.
(7) When the barometer measurement value is stable within a period of time and does not change suddenly, the pedestrian is considered to have finished going upstairs or going downstairs or stay at a certain position in a staircase, the step length and the floor height obtained by each step are accumulated, namely S is S1+S2+S3…+Sn，h＝h1+h2+h3…+h4The position of the pedestrian in the staircase can be obtained.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. An indoor staircase pedestrian positioning device is characterized by comprising a first gyroscope for measuring thigh motion amplitude, wherein the first gyroscope is communicated with an upper computer;
the system also comprises a positioning terminal for assisting in judging the behavior of going upstairs and downstairs, and the positioning terminal is also communicated with the upper computer.
2. An indoor staircase pedestrian positioning apparatus as in claim 1 wherein said positioning terminal includes an integrated barometer and a second gyroscope, both of said barometer and second gyroscope being in communication with said upper computer.
3. An indoor staircase pedestrian positioning apparatus as in claim 1 wherein said first gyroscope is implemented as two single axis gyroscopes.
4. A method for locating a pedestrian on an indoor staircase according to any one of claims 1 to 3, comprising:
inputting the length l of the upper part of the leg of the pedestrian to be positioned into an upper computer;
step two, installing the positioning terminal in a shoe of a pedestrian to be positioned, and detecting whether stepping is finished or not and whether going upstairs or downstairs are finished or not;
thirdly, arranging a first gyroscope on the outer side of the thigh of the pedestrian to be positioned, and measuring an included angle theta between the thigh and the gravity direction when the striding is completed;
step four, when the step two detects that the striding is finished, calculating the step length and the height of each layer of stairs according to the data of the step three and the step one;
and fifthly, when the step two detects that the upstairs and downstairs are finished, positioning the position of the pedestrian in the staircase according to the step length obtained by calculation in the step four and the height of each layer of stairs.
5. The method as claimed in claim 4, wherein in the second step, one of the positioning terminals is installed in each of the shoes for the left and right feet of the pedestrian.
6. The method as claimed in claim 5, wherein when the barometer value in the positioning terminal changes within a set time, the pedestrian goes upstairs or downstairs to assist in determining the behavior of going upstairs or downstairs;
when the barometer measurement value is stable within a set time and does not change suddenly, the pedestrian has finished going upstairs and downstairs.
7. The method as claimed in claim 5, wherein the second gyroscope in the positioning terminal is changed with the up and down movement value, and when the measured value is less than plus or minus 5 °, the pedestrian completes a stride.
8. The method as claimed in claim 4, wherein the first gyroscope is attached to the outer side of the thigh of the pedestrian in a direction perpendicular to the ground in step three.
9. The method as claimed in claim 4, wherein in the fourth step, the step length is calculated by l x sin θ;
the height of each stair is calculated by l × cos θ.
10. The method as claimed in claim 4, wherein in the fifth step, the step length calculated in the fourth step and the height of each stair layer are respectively accumulated, and the position of the pedestrian in the stair is located according to the accumulated value.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210017302.4A CN114459460A (en) | 2022-01-07 | 2022-01-07 | Indoor staircase pedestrian positioning device and method |
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| CN202210017302.4A CN114459460A (en) | 2022-01-07 | 2022-01-07 | Indoor staircase pedestrian positioning device and method |
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| US20180177667A1 (en) * | 2014-07-10 | 2018-06-28 | Osaka University | Method for determining leg-phase shift timing, leg-phase shift timing determination apparatus, method for controlling walking assistance, and walking assistance apparatus |
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| CN111197974A (en) * | 2020-01-15 | 2020-05-26 | 重庆邮电大学 | Barometer height measuring and calculating method based on Android inertial platform |
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2022
- 2022-01-07 CN CN202210017302.4A patent/CN114459460A/en active Pending
Patent Citations (9)
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| CN103267524A (en) * | 2013-04-24 | 2013-08-28 | 华中科技大学 | Wearable personnel gait-detection indoor-positioning system and method therefor |
| US20180177667A1 (en) * | 2014-07-10 | 2018-06-28 | Osaka University | Method for determining leg-phase shift timing, leg-phase shift timing determination apparatus, method for controlling walking assistance, and walking assistance apparatus |
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