WO2015105146A1 - 進行方向推定装置及び進行方向推定方法 - Google Patents
進行方向推定装置及び進行方向推定方法 Download PDFInfo
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- WO2015105146A1 WO2015105146A1 PCT/JP2015/050371 JP2015050371W WO2015105146A1 WO 2015105146 A1 WO2015105146 A1 WO 2015105146A1 JP 2015050371 W JP2015050371 W JP 2015050371W WO 2015105146 A1 WO2015105146 A1 WO 2015105146A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
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- the present invention relates to a technique for estimating the traveling direction of a moving body such as a pedestrian.
- the moving direction of a moving body with respect to the world coordinate system is estimated based on measurement data obtained by a sensing device such as an acceleration sensor, a magnetic sensor, a gyroscope, or an atmospheric pressure sensor built in a terminal held by the moving body such as a pedestrian.
- a sensing device such as an acceleration sensor, a magnetic sensor, a gyroscope, or an atmospheric pressure sensor built in a terminal held by the moving body such as a pedestrian.
- the gravity direction vector (1) can track the gravity direction in the sensor coordinate system based on the three-axis data output from the acceleration sensor and the angular velocity sensor.
- the horizontal reference direction vector (2) can be tracked in the horizontal reference direction based on an acceleration sensor, an angular velocity sensor, and a magnetic sensor.
- Non-Patent Document 1 specifically discloses a technique for tracking a gravity direction vector and a horizontal reference direction vector.
- a method based on so-called AHRS (AttitudeAtHeading Reference System) is also known.
- the sensing device when the sensing device is fixed, since the positional relationship between the device and the pedestrian is fixed, tracking of the moving direction of the moving body is generally known and relatively easy. However, when the position where the sensing device is held or the posture where the sensing device is held changes freely, it is not easy to track the traveling direction.
- Patent Document 1 and Patent Document 2 various methods have been proposed so far in order to estimate the traveling direction (Patent Document 1 and Patent Document 2), but the traveling direction could not be accurately estimated by these methods.
- Non-Patent Document 2 discloses that when components are decomposed in the horizontal direction, each component has frequency characteristics as shown in Table 1 below.
- the directions can be considered to be an accurate traveling direction and a horizontal direction (lateral direction).
- Non-Patent Document 2 proposes that the azimuth angle is continuously changed by a necessary resolution as an advancing direction estimation algorithm.
- JP 2009-156660 A Japanese Unexamined Patent Publication No. 2011-237452
- the present invention has been made to solve such a problem, and an object of the present invention is to provide an apparatus and a method capable of estimating the traveling direction of a moving body more efficiently.
- the present invention provides a traveling direction estimation device that estimates a traveling direction of a moving body, the acceleration detecting means for detecting the acceleration of the moving body by the traveling, and the moving body by the traveling. Based on the angular velocity detection means for detecting the angular velocity, the acceleration detected by the acceleration detection means, and the angular velocity detected by the angular velocity detection means, the moving body in the direction orthogonal to the traveling direction and the traveling direction on the horizontal plane The objective function is calculated according to at least one of the magnitude of the acceleration component and the angular velocity component of the moving body in the orthogonal direction and the traveling direction, and the direction in which the objective function is maximized is calculated. On the basis of the phase difference between the vertical component of acceleration and the component of the traveling direction, an advance that determines the traveling direction of the moving body out of the above directions. Providing the traveling direction estimating apparatus and a direction determining device.
- the present invention is a traveling direction estimation method for estimating a traveling direction of a moving body, and the moving body in a direction orthogonal to the traveling direction and in the traveling direction on a horizontal plane
- a first step of setting an objective function corresponding to at least one of the magnitude of the acceleration component of the moving object and the magnitude of the angular velocity component of the moving body in the orthogonal direction and the traveling direction, and the movement in which the objective function becomes the maximum value Based on the second step of calculating the direction in which the body travels and the phase difference between the vertical direction component of the acceleration of the moving body and the component in the traveling direction, out of the traveling direction calculated in the second step And a third step of determining the direction in which the moving body is estimated to be traveling is provided.
- the present invention it is possible to provide a traveling direction estimation device and a traveling direction estimation method that can estimate the traveling direction of a moving object more efficiently, that is, at a lower processing cost and at a higher speed.
- FIG. 1 It is a block diagram which shows the structure of the advancing direction estimation apparatus which concerns on embodiment of this invention. It is a figure which shows an example of the power spectrum of the acceleration component obtained by the one-dimensional FFT calculating part 9 shown by FIG. It is a flowchart which shows operation
- FIG. 1 is a block diagram showing a configuration of a moving body traveling direction estimation apparatus according to an embodiment of the present invention.
- the traveling direction estimation device shown in FIG. 1 includes an acceleration sensor (three axes) 1 and an angular velocity sensor attached to a terminal device such as a smartphone or a mobile terminal that is mounted or held on a moving body such as a pedestrian as a measuring unit. (3 axes) 3 provided. These sensors do not necessarily require output in the same coordinate system, but are finally converted so that they can be handled by the same Cartesian coordinate system (X / Y / Z axes) after coordinate conversion. Shall.
- Each of the acceleration component (X) measuring unit 11, the acceleration component (Y) measuring unit 12, and the acceleration component (Z) measuring unit 13 constituting the acceleration sensor is a sensor whose relative attitude angle is known with respect to the moving body. Measures and outputs acceleration vector component data on the X, Y, and Z axes of the coordinate system.
- the angular velocity component (X) measuring unit 31, the angular velocity component (Y) measuring unit 32, and the angular velocity component (Z) measuring unit 33 measure and output angular velocity component data on the X axis, the Y axis, and the Z axis, respectively.
- the acceleration vector component data and the angular velocity vector component data do not necessarily have to be the component data itself output from the sensor.
- the acceleration vector and the angular velocity vector offset or sensitivity corrected data may be output. Good.
- a temperature compensation calibration process may be realized by a separately incorporated temperature sensor.
- the gravity direction vector estimation unit 5 is based on the acceleration vector and the angular velocity vector obtained from the data measured by the acceleration sensor (three axes) 1 and the angular velocity sensor (three axes) 3 in the sensor coordinate system of the traveling direction estimation device. Estimate and output the gravity direction vector. Such processing can be realized by a conventional method.
- the buffer 8 is a one-dimensional buffer that buffers and stores the data output from the (acceleration component) gravity direction vector projection calculation unit 7.
- buffering is realized by first-in first-out (FIFO), but a buffer in which the stored time order is maintained is sufficient. The same applies to the following buffers 15 to 17 and 35 to 37.
- the buffer 15 is a one-dimensional buffer that stores data output from the acceleration component (X) measurement unit 11 and the gravity direction vector estimation unit 5.
- the buffer 16 is a one-dimensional buffer that stores data output from the acceleration component (Y) measurement unit 12 and the gravity direction vector estimation unit 5.
- the buffer 17 is a one-dimensional buffer that stores data output from the acceleration component (Z) measurement unit 13 and the gravity direction vector estimation unit 5.
- the buffer 35 is a one-dimensional buffer that stores data output from the angular velocity component (X) measurement unit 31.
- the buffer 36 is a one-dimensional buffer that stores data output from the angular velocity component (Y) measurement unit 32.
- the buffer 37 is a one-dimensional buffer that stores data output from the angular velocity component (Z) measurement unit 33.
- the one-dimensional FFT operation unit 9 executes a one-dimensional discrete Fourier transform operation for a predetermined sample data length (for example, 512 samples) based on the projection component stored in the buffer 8, and the frequency domain transformed data is obtained. Output. That is, the one-dimensional FFT calculation unit 9 calculates the peak frequency of the power spectrum of the acceleration component stored in the buffer 8 by performing a one-dimensional discrete Fourier transform calculation. An example of this power spectrum is shown in FIG.
- the vertical axis represents power [m / s 2 ] and the horizontal axis represents frequency [Hz].
- 2 Hz is estimated as the fundamental frequency by the walking frequency / phase estimation unit 10 based on this power spectrum.
- This data may be held at the stage of being stored in the buffer 8, or the data may be acquired by reading information stored in an external storage device in advance. The same applies to the following one-dimensional FFT calculation units 19 to 21 and 39 to 41.
- the one-dimensional FFT operation unit 19 performs a one-dimensional discrete Fourier transform operation on a predetermined sample data length based on the data stored in the buffer 15, and outputs the frequency domain-converted data.
- the one-dimensional FFT operation unit 20 performs a one-dimensional discrete Fourier transform operation on the determined sample data length based on the data stored in the buffer 16 and outputs the frequency domain transformed data.
- the one-dimensional FFT operation unit 21 performs a one-dimensional discrete Fourier transform operation on a predetermined sample data length based on the data stored in the buffer 17 and outputs the frequency domain transformed data.
- the one-dimensional FFT operation unit 39 performs a one-dimensional discrete Fourier transform operation on the determined sample data length based on the data stored in the buffer 35, and outputs the frequency-domain transformed data.
- the one-dimensional FFT operation unit 40 executes a one-dimensional discrete Fourier transform operation on a predetermined sample data length based on the data stored in the buffer 36, and outputs the frequency-domain converted data.
- the one-dimensional FFT operation unit 41 performs a one-dimensional discrete Fourier transform operation on a predetermined sample data length based on the data stored in the buffer 37, and outputs the frequency-domain transformed data.
- the walking frequency / phase estimation unit 10 estimates the basic frequency (walking frequency) of the walking motion based on the discrete Fourier transform data of the acceleration component in the gravitational direction calculated by the one-dimensional FFT calculation unit 9.
- the frequency of the component having the maximum power within the range can be estimated as the walking frequency.
- the frequency can be estimated as a walking frequency.
- the approximate walking frequency is obtained, and by detecting the corresponding frequency peak on the frequency domain, the walking frequency is determined from the time interval. Also good.
- the phase is obtained for the frequency peak and output together with the walking frequency.
- the traveling direction vector determination unit 50 includes data indicating the walking frequency and phase output from the walking frequency / phase estimation unit 10 and discrete Fourier transform data output from the one-dimensional FFT calculation units 19 to 21 and 39 to 41.
- the gravity direction vector output from the gravity direction vector estimation unit 5 is input, and the traveling direction vector of the moving body is determined by a method described later.
- FIG. 3 is a flowchart showing the operation of the traveling direction estimation apparatus. As shown in FIG. 3, the traveling direction estimation apparatus performs preprocessing in step S1, and this processing will be described in detail with reference to FIG.
- step S11 the gravity direction vector estimation unit 5 estimates the gravity direction vector as described above.
- step S12 the (acceleration component) gravity direction vector projection calculation unit 7 obtains a component obtained by projecting the acceleration vector onto the gravity direction vector.
- step S13 the buffer 8 stores the component obtained in step S12 in the buffer.
- step S14 the one-dimensional FFT calculation unit 9 applies the one-dimensional FFT calculation to the data stored in the buffer 8 in step S13.
- the walking frequency / phase estimation unit 10 obtains the walking frequency and its phase from the data (FFT data) obtained by the calculation in step S14.
- the traveling direction vector determination unit 50 calculates the traveling direction from the mathematical expression in step S2 shown in FIG. The method will be described in detail. All the operations shown in FIG. 5 are executed by the traveling direction vector determination unit 50.
- the gravity direction vector estimated from the gravity direction vector estimation unit 5 in step S21 is acquired.
- step S22 one unit vector orthogonal to the gravity direction vector acquired in step S21 is determined as the horizontal reference direction vector.
- an objective function is set in step S23, and a weighting coefficient is determined in the function. The operation in this step will be described in detail below.
- (v x, v y , v z ) represents a traveling direction vector orthogonal to the gravity direction vector (g x , g y , g z ), and their positional relationship Is shown in FIG.
- the traveling direction vector and the gravity direction vector are orthogonal from the viewpoint of human walking characteristics, and the horizontal reference azimuth vectors (h x , h y , h z ) are orthogonal to the gravity direction vector. It is assumed that any unit vector is arbitrarily selected.
- ⁇ b and ⁇ h in the above formulas (2) and (3) represent an angular frequency corresponding to the walking frequency and an angular frequency corresponding to half the walking frequency, respectively.
- A represents acceleration
- W represents angular velocity
- Re represents a real part
- Im represents an imaginary part.
- each component of the traveling direction vector (v x, v y , v z ) can be described by the following formula (4) by the Rodriguez rotation formula.
- each component of the traveling direction vector and the side direction vector orthogonal thereto can be expressed by the sum of the sine function and the cosine function.
- the objective function U can be set to a function that can accurately estimate the direction of travel even when there are individual differences (individual differences) or changes in the situation of the moving object.
- the setting of the indicated objective function U ( ⁇ ) will be described in detail.
- the objective function U ( ⁇ ) has the following six weighting coefficients as shown in the equations (1) to (3).
- the six weighting factors are the weighting factor w a of the sub objective function Ua ( ⁇ ) for the acceleration component, the weighting factor w ⁇ of the sub objective function U ⁇ ( ⁇ ) for the angular velocity component, and the acceleration component.
- the weighting factor w f a of the traveling direction component (component around the roll axis) included in the sub objective function Ua ( ⁇ ), the weighting factor w s , a in the same direction (component around the pitch axis) , and the angular velocity component It refers weighting factor w f of the traveling direction component included in the sub-objective function Yuomega (theta) (component about the roll axis), and omega, the weight coefficient w s ipsilateral direction (pitch axis around component), and omega.
- the acceleration component becomes dominant as a feature of the motion. Therefore, in the above equation (1), the weighting factor w a of the acceleration component is set to 1, and the weighting factor w ⁇ of the angular velocity component. It is also possible to obtain an analytical solution with 0 being zero.
- the weighting coefficient w f, a and the weighting coefficient w s, a are coefficients for adding after normalizing the traveling direction component and the side direction component of acceleration, and are, for example, coefficients of components that generate only a small amplitude. By setting a large value, the characteristics of such components can be appropriately reflected in the operation.
- the weighting factor w f, ⁇ and the weighting factor w s, ⁇ are coefficients for adding after normalizing the traveling direction component and the side direction component of the angular velocity. By setting the coefficient large, the characteristics of such components can be appropriately reflected in the operation.
- the traveling direction vector determination unit 50 acquires the data after the discrete Fourier transform of the acceleration component (three axes) from the one-dimensional FFT calculation units 19 to 21 in step S24 shown in FIG.
- the advancing direction vector determination unit 50 acquires the data after the discrete Fourier transform of the angular velocity components (three axes) from the one-dimensional FFT calculation units 39 to 41 in step S25.
- the traveling direction vector determination unit 50 obtains the result of discrete Fourier transform of the gravity direction vector acquired in step S21 and the acceleration component (three axes) acquired in step S24, and is acquired in step S25.
- the advancing direction vector determination unit 50 calculates in step S2 the phase of the walking frequency component of the acceleration component projected in the gravity direction supplied from the walking frequency / phase estimation unit 10 in step S3 shown in FIG. From this solution, the phase of the walking frequency component of the acceleration component projected in the traveling direction is obtained, and the difference between this phase and the phase of the walking frequency component of the acceleration component projected in the gravitational direction is within a predetermined numerical range.
- ⁇ that falls within the numerical range is selected as the only solution indicating the correct traveling direction.
- the above “predetermined numerical range” should be in the range of about ⁇ 45 degrees to 135 degrees when the movement by the moving body is a human walking motion.
- the phase difference can also be calculated by a method for obtaining a cross correlation function of both components.
- step S4 the traveling direction vector determination unit 50 determines the traveling direction that maximizes the objective function U calculated in step S3 as the final traveling direction.
- the traveling direction vector determination unit 50 calculates the traveling direction vector by substituting the solution determined as the only solution in step S3 into the above equation (4).
- the traveling direction vector determination unit 50 supplies the traveling direction vector calculated by the above method to other circuits and devices (not shown) that require information about the traveling direction vector.
- the maximum value of the objective function U obtained analytically can be used for evaluating the reliability of the azimuth angle. That is, when the objective function U takes a sufficiently large maximum value, it can be evaluated that the reliability of the azimuth is high, and in other cases, it can be considered that the reliability is low.
- the traveling direction estimation device and the traveling direction estimation method according to the embodiment of the present invention it is possible to easily estimate the direction in which the moving body travels (traveling direction). That is, the calculation cost can be reduced and the traveling direction can be estimated at high speed.
- the traveling direction estimation device and the traveling direction estimation method according to the embodiment of the present invention are not limited to the case where the device is held by the hand of a person walking while swinging his arm, but in the pocket of the leg of the walking person. Even when it is put in, or when it is put in the handbag of a walking person, the characteristics shown in Table 1 can be obtained, so that the effect of the present invention can be obtained.
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Abstract
Description
図1は、本発明の実施の形態に係る移動体の進行方向推定装置の構成を示すブロック図である。
図3は、上記進行方向推定装置の動作を示すフローチャートである。図3に示されるように、本進行方向推定装置はステップS1において前処理を実行するが、図4を参照しつつ本処理を詳しく説明する。
次にステップS13においてバッファ8が、ステップS12で得られた成分をバッファに格納する。次に、ステップS14において1次元FFT演算部9が、ステップS13においてバッファ8に格納されたデータに対して1次元FFT演算を適用する。そして、ステップS15において歩行周波数・位相推定部10が、ステップS14の演算により得られたデータ(FFTデータ)から歩行周波数とその位相を求める。
なお、上記位相差は、両成分の相互相関関数を求める方法により算出することもできる。
3 角速度センサ(3軸)
9、19~21、39~41 1次元FFT演算部
50 進行方向ベクトル決定部
Claims (5)
- 移動体が進行する向きを推定する進行方向推定装置であって、
前記進行による前記移動体の加速度を検知する加速度検知手段と、
前記進行による前記移動体の角速度を検知する角速度検知手段と、
前記加速度検知手段により検知された前記加速度及び前記角速度検知手段により検知された前記角速度に基づいて、水平面上で前記進行する向きと直交する向き及び前記進行する向きにおける前記移動体の加速度成分の大きさと、前記直交する向き及び前記進行する向きにおける前記移動体の角速度成分の大きさの少なくとも一方に応じた目的関数を演算し、前記目的関数が最大となる方向を算出すると共に、前記移動体の加速度の鉛直方向成分と前記進行する向きの成分における位相差に基づいて、前記方向のうち前記移動体が進行する向きを決定する進行方向決定手段とを備えた進行方向推定装置。 - 前記加速度検知手段で検知された前記加速度と前記角速度検知手段で検知された前記角速度を離散フーリエ変換するフーリエ変換手段をさらに備え、
前記進行方向決定手段は、前記目的関数の演算として、前記フーリエ変換手段により前記加速度の前記進行する向きの成分を離散フーリエ変換して得られる第一の周波数成分の振幅と、前記フーリエ変換手段により前記加速度の前記直交する向きの成分を離散フーリエ変換したときにおける前記第一の周波数の1/2の第二の周波数成分の振幅とを共に二乗した上で、重み係数を乗じて加算することに得られる第一の目的関数と、前記フーリエ変換により前記角速度の前記進行する向きの成分を離散フーリエ変換して得られる前記第二の周波数成分の振幅と、前記角速度の前記直交する向きの成分を離散フーリエ変換したときにおける前記第一の周波数成分の振幅とを共に二乗した上で、重み係数を乗じて加算することにより得られる第二の目的関数とを重み係数を乗じて加算する、請求項1に記載の進行方向推定装置。 - 移動体が進行する向きを推定する進行方向推定方法であって、
水平面上で前記進行する向きと直交する向き及び前記進行する向きにおける前記移動体の加速度成分の大きさと、前記直交する向き及び前記進行する向きにおける前記移動体の角速度成分の大きさの少なくとも一方に応じた目的関数を設定する第一のステップと、
前記目的関数が最大値となる前記移動体が進行する方向を算出する第二のステップと、
前記移動体の加速度の鉛直方向成分と前記進行する向きの成分における位相差に基づいて、前記第二のステップで算出された前記進行する方向のうち前記移動体が進行していると推定される前記向きを決定する第三のステップとを有する進行方向推定方法。 - 前記目的関数は、前記加速度成分の関数である第一の目的関数と、前記角速度成分の関数である第二の目的関数にそれぞれ重み係数を乗じて加算したものである、請求項3に記載の進行方向推定方法。
- 前記第一の目的関数は、前記加速度の前記進行する向きの成分を離散フーリエ変換して得られる第一の周波数成分の振幅と、前記加速度の前記直交する向きの成分を離散フーリエ変換したときにおける前記第一の周波数の1/2の第二の周波数成分の振幅とを共に二乗した上で、重み係数を乗じて加算したものであり、
前記第二の目的関数は、前記角速度の前記進行する向きの成分を離散フーリエ変換して得られる前記第二の周波数成分の振幅と、前記角速度の前記直交する向きの成分を離散フーリエ変換したときにおける前記第一の周波数成分の振幅とを共に二乗した上で、重み係数を乗じて加算したものである、請求項4に記載の進行方向推定方法。
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US20170023604A1 (en) | 2017-01-26 |
JPWO2015105146A1 (ja) | 2017-03-23 |
JP6548305B2 (ja) | 2019-07-24 |
US10317423B2 (en) | 2019-06-11 |
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