CN114485720A - Step counting method based on local peak value fitting and pedometer - Google Patents
Step counting method based on local peak value fitting and pedometer Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- 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
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Abstract
The invention relates to a step counting method and a step counter based on local peak value fitting.A three-degree-of-freedom accelerometer detects three-direction acceleration values, calculates the integral acceleration according to the three-direction acceleration values, and draws an acceleration curve; detecting a local peak value of the acceleration curve; screening the local peak value, and eliminating a false peak value; and acquiring walking time intervals based on the residual local peak points, and counting the time intervals within the effective step threshold range as effective steps. Compared with the traditional peak value step counting, the step counting method provided by the invention can overcome the defects that the step counting is larger than the actual value and the precision is not high due to the generation of a pseudo wave peak caused by environmental noise and interference by locally fitting the left side and the right side of the peak value point, and improves the step counting precision.
Description
Technical Field
The invention relates to the technical field of gait detection, in particular to a step counting method and a step counter based on local peak fitting.
Background
Currently, GPS (global positioning system) based tracking and positioning services are well established, but are generally not available in indoor environments due to blockage of GPS signals. Therefore, indoor positioning technology is the current research focus. Current indoor positioning technologies are mainly classified into two categories: non-autonomous navigation techniques and autonomous navigation techniques. The non-autonomous navigation technologies comprise WiFi, ZigBee and the like, the navigation and positioning technologies need to depend on high-precision sensors/equipment and a communication link between the high-precision sensors/equipment and a target object, real-time accurate positioning cannot be achieved by the navigation and positioning technologies in a complex environment, equipment needs to be installed in advance for achieving the navigation and positioning technologies, and the navigation and positioning technologies are expensive. The autonomous navigation technology mainly refers to an inertial navigation technology, does not depend on any external information, can realize complete autonomous navigation and positioning, and therefore can be suitable for unknown environments. The autonomous navigation technology comprises a Pedestrian Dead Reckoning (PDR) technology, a dead reckoning technology for assisting the navigation of airplanes, submarines and missiles, and the navigation technology helps to locate indoor pedestrians by integrating the course, the step number and the step length of the pedestrians estimated by a motion sensor, however, the accuracy of the current autonomous navigation is not high. In the case of inertial measurement units, highly accurate step counts are an important part of improving the accuracy of indoor positioning systems.
In addition, the step count helps us to perform moderate physical exercise, provides a reference and comparative standard, and helps us to make reasonable exercise plans.
The acceleration amplitude of a person in different motion states can present a periodic sine wave characteristic, and the existing peak value detection step counting method realizes step counting by detecting the peak value number of the acceleration amplitude. However, in the existing step counting method for peak detection, the acceleration amplitude waveform generates a pseudo peak due to environmental noise and occasional interference, so that the step counting is larger than an actual value, and the accuracy is not high. How to improve the step-counting precision is a technical problem to be solved urgently in the field.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a step counting method and a step counter based on local peak fitting, which can well overcome the defects that the step counting is larger than an actual value and the precision is not high due to the fact that false peaks are generated by environmental noise and interference by locally fitting the left side and the right side of a peak point.
In order to achieve the above object, the present invention provides a step-counting method based on local peak fitting, comprising:
the three-degree-of-freedom accelerometer detects three-direction acceleration values, the overall acceleration is calculated according to the three-direction acceleration values, and an acceleration curve is drawn;
Detecting a local peak value of the acceleration curve;
screening the local peak value, and eliminating a false peak value;
and acquiring walking time intervals based on the residual local peak points, and counting the time intervals within the effective step threshold range as effective steps.
Further, the formula for calculating the overall acceleration a from the three-direction acceleration values is as follows:
ax、ay、azis the X, Y, Z axial acceleration measured value under the geodetic coordinate system of the three-degree-of-freedom accelerometer.
Further, detecting the local peak of the acceleration curve comprises:
eliminating points on the acceleration curve, which are smaller than the lower limit value of the motion acceleration;
a sliding window is used to find the local peak in the remaining points.
Further, screening the local peak value, and eliminating the false peak value comprises:
when the integral acceleration a is larger than a first threshold value, determining the speed as high, when the integral acceleration a is between the first threshold value and a second threshold value, determining the speed as medium, and when the integral acceleration a is lower than the second threshold value, determining the speed as low; the first threshold value is larger than a second threshold value, and the second threshold value is larger than the acceleration lower limit value;
when the speed is high, k1 points are respectively selected on two sides of each local peak; when the speed is medium, k2 points are respectively selected on two sides of each local peak value; when the speed is low, k3 points are respectively selected on two sides of each local peak; k1< k2< k 3;
And respectively carrying out least square fitting on the selected points, judging as a local peak value when the slopes on the two sides are both larger than a threshold value and the product is a negative value, otherwise, judging as a pseudo peak value, and rejecting the pseudo peak value.
Further, detecting the difference value between the former wave trough and the latter wave trough based on the local peak value as a walking time interval, counting the number of steps if the difference value is within the effective step threshold range, and otherwise, counting the number of steps;
calculating the trough includes: and fitting curves on two sides of the wave trough by adopting least squares, calculating deviation values e of the fitted values and the measured values, and if two continuous deviation values e are greater than a threshold value sigma, taking a point corresponding to the first deviation value e as a wave trough point.
On the other hand, the pedometer based on local peak fitting comprises a three-degree-of-freedom accelerometer, a curve acquisition module, a local peak detection module, a pseudo peak eliminating module and a step counting module;
the three-degree-of-freedom accelerometer detects a three-direction acceleration value;
the curve acquisition module calculates the integral acceleration according to the three-direction acceleration values and draws an acceleration curve;
the local peak value detection module is used for detecting a local peak value of the acceleration curve;
the pseudo peak value eliminating module is used for screening the local peak values and eliminating pseudo peak values;
And the step counting module is used for acquiring walking time intervals based on the residual local peak points after the pseudo peak value eliminating module eliminates the residual local peak value points, and the time intervals within the effective step threshold range are used as effective steps for counting.
Further, the curve obtaining module calculates the overall acceleration a according to the formula that:
ax、ay、azx, Y, Z axial acceleration measured value under a geodetic coordinate system of the three-degree-of-freedom accelerometer;
the curve acquisition module also comprises a filtering unit for carrying out digital filtering on the integral acceleration a.
Further, the local peak detection module detects a local peak of the acceleration curve, including:
eliminating points on the acceleration curve, which are smaller than the lower limit value of the motion acceleration;
a sliding window is used to find local peaks in the remaining points.
Further, the module is rejected to pseudo-peak value, screens local peak value, rejects pseudo-peak value and includes:
when the integral acceleration a is larger than a first threshold value, determining the speed as high, when the integral acceleration a is between the first threshold value and a second threshold value, determining the speed as medium, and when the integral acceleration a is lower than the second threshold value, determining the speed as low; the first threshold value is larger than a second threshold value, and the second threshold value is larger than the acceleration lower limit value;
When the speed is high, k1 points are respectively selected on two sides of each local peak value; when the speed is medium, k2 points are respectively selected on two sides of each local peak value; when the speed is low, k3 points are respectively selected on two sides of each local peak value; k1< k2< k 3;
and respectively carrying out least square fitting on the selected points, judging as a local peak value when the slopes on the two sides are both larger than a threshold value and the product is a negative value, otherwise, judging as a pseudo peak value, and rejecting the pseudo peak value.
Further, the step counting module detects a difference value between a former trough and a latter trough based on the local peak value as a walking time interval, and counts the step number if the step is within the effective step threshold range, otherwise does not count the step number;
calculating the trough includes: and fitting curves on two sides of the wave trough by adopting least squares, calculating deviation values e of the fitted values and the measured values, and if two continuous deviation values e are greater than a threshold value sigma, taking a point corresponding to the first deviation value e as a wave trough point.
The technical scheme of the invention has the following beneficial technical effects:
(1) compared with the traditional peak value step counting, the step counting method provided by the invention can overcome the defects that the step counting is larger than the actual value and the precision is not high due to the generation of a pseudo wave peak caused by environmental noise and interference by locally fitting the left side and the right side of the peak value point, and improves the step counting precision.
(2) The invention adopts different data points aiming at different pace speeds, thereby reducing the amount on one hand and ensuring the calculation accuracy on the other hand.
(3) The invention adopts the wave crest position to calculate the wave trough position, obtains the period of a certain complete step by utilizing the wave trough calculation period, is more accurate, and can avoid the influence of speed change during walking and stop after walking.
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FIG. 1 is a flow chart of step counting;
fig. 2 is an acceleration curve.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
With reference to fig. 1, the step counting method based on local peak fitting includes the following steps:
(1) the three-degree-of-freedom accelerometer detects three-direction acceleration values, calculates the overall acceleration according to the three-direction acceleration values, and draws an acceleration curve.
For three-direction acceleration value detection and recording, a three-degree-of-freedom accelerometer is adopted to record data, and then the dependence on the axial direction is reduced by calculating the overall acceleration a:
In the formula ax、ay、azAnd finally, reducing noise interference in the signal by adopting a digital filter for the three-degree-of-freedom accelerometer corresponding to the axial measurement value.
(2) Detecting a local peak of the acceleration curve.
According to the fact that the proportion of the integral acceleration a larger than 1.2g reaches 99% when the pedestrian normally moves, a threshold value 1.2g can be set to distinguish the moving state or the static state of the pedestrian. And searching a potential peak value of the whole acceleration by using a 50 epoch sliding window, and removing a peak value point in which a is less than 1.2 g. For the obtained potential peak point, the slow speed can be set when a is more than or equal to 1.2g and less than 2g, the medium speed can be set when a is more than 2g and less than or equal to 3g, and the high speed can be set when a is more than 3 g.
(3) And screening the local peak value to remove the false peak value.
The human step frequency is 2.5 steps/s at the fastest speed and 0.5 steps/s at the slowest speed, and taking 50Hz sampling frequency as an example, the corresponding period at least comprises 20 sampling points and at most comprises 100 sampling points. The speed level is judged by the potential peak value, 20 points are taken at slow speed, 10 points are taken at medium speed, and 5 points are taken at high speed.
When the integral acceleration a is larger than a first threshold value, determining the speed as high, when the integral acceleration a is between the first threshold value and a second threshold value, determining the speed as medium, and when the integral acceleration a is lower than the second threshold value, determining the speed as low; the first threshold value is larger than a second threshold value, and the second threshold value is larger than the acceleration lower limit value;
When the speed is high, k1 points are respectively selected on two sides of each local peak value; when the speed is medium, k2 points are respectively selected on two sides of each local peak value; when the speed is low, k3 points are respectively selected on two sides of each local peak value; k1< k2< k 3;
and respectively carrying out least square fitting on the selected points, judging as a local peak value when the slopes on the two sides are both larger than a threshold value and the product is a negative value, otherwise, judging as a pseudo peak value, and rejecting the pseudo peak value.
In one embodiment, in a high-speed motion state, based on least square fitting of a local peak, performing least square straight line fitting on 5 points on both sides of the potential peak obtained in the step (2), and setting the potential peak point as xmFor example, fit the right five points:
K can be obtained by the following equationl、a0:
The left-side acceleration change rate k can be obtained similarly to the abovelIf k isrklIs < 0, and
and continuing to perform the next judgment, otherwise, regarding the peak value as a pseudo peak value, and not counting steps. ε represents the acceleration rate threshold.
(4) And acquiring walking time intervals based on the residual local peak points, and counting the time intervals within the effective step threshold range as effective steps.
Typically the time interval between two active steps of the human body [0.4s, 2.0s ]. When the system vibrates rapidly due to abnormal motion conditions, it is also mistaken for a valid step, and such invalid vibrations can be excluded by using time constraints. The walking cycle in which the peak point meeting the condition of the previous step is located can be represented by the difference value between the trough before the peak and the trough after the peak.
The trough can be obtained by the fitting function obtained in the third step, taking the right trough as an example: having a fitting function of
(j ═ m, m + 1.., m + 5.) expand xjI.e. increasing the point xm+6、xm+7.., and calculating deviation values in sequence
Wherein
ajAre respectively a point xj(j is m +6, m + 7..) and the actual measurement value, and if the deviation value e is continuously greater than the threshold value sigma, the first point in the group is taken as the troughAnd points and troughs on the left side can be obtained in the same way, the time difference is calculated, the condition that the constraint condition is not met is regarded as disturbance, the step number register is not counted, and the step number register is counted if the time constraint is met.
The wave trough is the starting point or the ending point of one step, and the wave crest is the middle moment of one step.
On the other hand, the pedometer based on local peak fitting comprises a three-degree-of-freedom accelerometer, a curve acquisition module, a local peak detection module, a pseudo peak elimination module and a step counting module.
And the three-degree-of-freedom accelerometer detects three-direction acceleration values.
The curve acquisition module calculates the integral acceleration according to the three-direction acceleration values and draws an acceleration curve; the curve acquisition module calculates the integral acceleration a according to the three-direction acceleration value by the following formula:
ax、ay、azx, Y, Z axial acceleration measured value under a three-degree-of-freedom accelerometer geodetic coordinate system;
furthermore, the curve acquisition module further comprises a filtering unit for performing digital filtering on the acceleration a.
And the local peak value detection module is used for detecting the local peak value of the acceleration curve. Eliminating points on the acceleration curve, which are smaller than the lower limit value of the motion acceleration; a sliding window is used to find the local peak in the remaining points.
The pseudo peak value eliminating module is used for screening the local peak values and eliminating pseudo peak values; when the integral acceleration a is larger than a first threshold value, determining the speed as high, when the integral acceleration a is between the first threshold value and a second threshold value, determining the speed as medium, and when the integral acceleration a is lower than the second threshold value, determining the speed as low; the first threshold value is larger than a second threshold value, and the second threshold value is larger than the acceleration lower limit value;
When the speed is high, k1 points are respectively selected on two sides of each local peak; when the speed is medium, k2 points are respectively selected on two sides of each local peak value; when the speed is low, k3 points are respectively selected on two sides of each local peak; k1< k2< k 3;
and respectively carrying out least square fitting on the selected points, judging as a local peak value when the slopes on the two sides are both larger than a threshold value and the product is a negative value, otherwise, judging as a pseudo peak value, and rejecting the pseudo peak value.
In one embodiment, a least square line fit is performed to 5 points on both sides of the local peak, and the left-side acceleration change rate k is calculatedlRight side acceleration rate krIf k is satisfiedrklIs < 0, and
and if the peak value is judged to be the real peak value, the step counting module continues to carry out the next judgment, otherwise, the peak value is regarded as a false peak value, and the step counting is not carried out.
And the step counting module is used for acquiring walking time intervals based on the residual local peak points after the pseudo peak value eliminating module is eliminated, and counting the time intervals within the effective step threshold range as effective steps. And detecting the difference value between the former wave trough and the latter wave trough based on the local peak value to be used as a walking time interval, counting the steps if the difference value is in the range of [0.4s, 2.0s ], and counting the steps if the difference value is not in the range of [0.4s, 2.0s ].
Calculating the trough includes: and fitting curves on two sides of the wave trough by adopting least squares, calculating deviation values e of the fitted values and the measured values, and if two continuous deviation values e are greater than a threshold value sigma, taking a point corresponding to the first deviation value e as a wave trough point.
In summary, the invention relates to a step counting method and a pedometer based on local peak fitting, wherein a three-degree-of-freedom accelerometer detects three-direction acceleration values, calculates the overall acceleration according to the three-direction acceleration values, and draws an acceleration curve; detecting a local peak of the acceleration curve; screening the local peak value, and eliminating a false peak value; and acquiring walking time intervals based on the residual local peak points, and counting the time intervals within the effective step threshold range as effective steps. Compared with the traditional peak value step counting, the step counting method provided by the invention can overcome the defects that the step counting is larger than the actual value and the precision is not high due to the generation of a pseudo wave peak caused by environmental noise and interference by locally fitting the left side and the right side of the peak value point, and improves the step counting precision.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (10)
1. A step counting method based on local peak fitting is characterized by comprising the following steps:
the three-degree-of-freedom accelerometer detects three-direction acceleration values, the overall acceleration is calculated according to the three-direction acceleration values, and an acceleration curve is drawn;
detecting a local peak of the acceleration curve;
screening the local peak value, and eliminating a false peak value;
and acquiring walking time intervals based on the residual local peak points, and counting the time intervals within the effective step threshold range as effective steps.
2. The local peak fitting-based step counting method according to claim 1, wherein the overall acceleration a is calculated from the three-direction acceleration values by the following formula:
ax、ay、azis the X, Y, Z axial acceleration measured value under the geodetic coordinate system of the three-degree-of-freedom accelerometer.
3. The local peak fitting-based step counting method according to claim 1 or 2, wherein detecting the local peak of the acceleration curve comprises:
eliminating points on the acceleration curve, which are smaller than the lower limit value of the motion acceleration;
a sliding window is used to find the local peak in the remaining points.
4. The step counting method based on local peak fitting of claim 2, wherein the step of screening the local peaks and the step of removing the false peaks comprises:
When the overall acceleration a is greater than a first threshold, determining the speed as high, when the overall acceleration a is between the first threshold and a second threshold, determining the speed as medium, when the overall acceleration a is lower than the second threshold, determining the speed as low; the first threshold value is larger than a second threshold value, and the second threshold value is larger than the acceleration lower limit value;
when the speed is high, k1 points are respectively selected on two sides of each local peak value; when the speed is medium, k2 points are respectively selected on two sides of each local peak value; when the speed is low, k3 points are respectively selected on two sides of each local peak value; k1< k2< k 3;
and respectively carrying out least square fitting on the selected points, judging as a local peak value when the slopes on the two sides are both larger than a threshold value and the product is a negative value, otherwise, judging as a pseudo peak value, and rejecting the pseudo peak value.
5. The step counting method based on local peak fitting according to claim 4, characterized in that, the difference between the previous trough and the next trough is detected based on the local peak as the walking time interval, if the walking time interval is within the effective step threshold range, the step count is counted, otherwise, the step count is not counted;
calculating the trough includes: and fitting curves on two sides of the wave trough by adopting least squares, calculating deviation values e of the fitted values and the measured values, and if two continuous deviation values e are greater than a threshold value sigma, taking a point corresponding to the first deviation value e as a wave trough point.
6. A pedometer based on local peak fitting is characterized by comprising a three-degree-of-freedom accelerometer, a curve acquisition module, a local peak detection module, a pseudo peak elimination module and a step counting module;
a three-degree-of-freedom accelerometer which detects a three-direction acceleration value;
the curve acquisition module is used for calculating the integral acceleration according to the three-direction acceleration values and drawing an acceleration curve;
the local peak value detection module is used for detecting a local peak value of the acceleration curve;
the pseudo peak value eliminating module is used for screening the local peak values and eliminating pseudo peak values;
and the step counting module is used for acquiring walking time intervals based on the residual local peak points after the pseudo peak value eliminating module is eliminated, and counting the time intervals within the effective step threshold range as effective steps.
7. The pedometer based on local peak fitting according to claim 6, wherein the curve acquisition module calculates the overall acceleration a from the three-direction acceleration values by the following formula:
ax、ay、azx, Y, Z axial acceleration measured value under a three-degree-of-freedom accelerometer geodetic coordinate system;
the curve acquisition module further comprises a filtering unit for performing digital filtering on the whole acceleration a.
8. The local peak fitting-based pedometer of claim 6 or 7, wherein the local peak detection module detects the local peak of the acceleration curve comprises:
Points on the acceleration curve which are smaller than the lower limit value of the motion acceleration are removed;
a sliding window is used to find local peaks in the remaining points.
9. The pedometer according to claim 6 or 7, wherein the pseudo-peak eliminating module is configured to screen the local peaks, and eliminate the pseudo-peaks by:
when the overall acceleration a is greater than a first threshold, determining the speed as high, when the overall acceleration a is between the first threshold and a second threshold, determining the speed as medium, when the overall acceleration a is lower than the second threshold, determining the speed as low; the first threshold value is larger than a second threshold value, and the second threshold value is larger than the acceleration lower limit value;
when the speed is high, k1 points are respectively selected on two sides of each local peak; when the speed is medium, k2 points are respectively selected on two sides of each local peak value; when the speed is low, k3 points are respectively selected on two sides of each local peak; k1< k2< k 3;
and respectively carrying out least square fitting on the selected points, judging as a local peak value when the slopes on the two sides are both larger than a threshold value and the product is a negative value, otherwise, judging as a pseudo peak value, and rejecting the pseudo peak value.
10. The local peak fitting-based pedometer according to claim 9, wherein the step counting module detects the difference between the previous trough and the next trough as the walking time interval based on the local peak, counts the steps if the difference is within the effective step threshold range, and otherwise does not count the steps;
Calculating the trough includes: and fitting curves on two sides of the wave trough by adopting least squares, calculating deviation values e of the fitted values and the measured values, and if two continuous deviation values e are greater than a threshold value sigma, taking a point corresponding to the first deviation value e as a wave trough point.
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