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Adaptive zero-speed interval detection method

A zero-speed interval and detection method technology, applied in the field of pedestrian navigation and positioning, can solve the problems of poor adaptability to multiple gaits

Active Publication Date: 2019-11-15
HARBIN INST OF TECH
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Problems solved by technology

[0003] The problem solved by the invention is the poor adaptability of the existing zero-speed interval detection method to multi-gait

Method used

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Embodiment Construction

[0042] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0043] see Figure 4 , take the left foot as an example in the pedestrian movement: Pose1-Pose2 is the motion interval, that is, the gait process corresponding to the time when the left foot leaves the ground and the sole of the foot touches the ground is the motion interval, and Pose3-Pose4 is the zero-speed interval, that is, the left foot The gait process corresponding to the foot always in contact with the ground is the zero-speed interval; in pedestrian navigation, the movement parameters are generally obtained through the zero-speed interval to correct the motion parameters, but in practice the zero-speed interval corresponding to the sole of the foot also includes When the speed is zero and the acceleration is not zero, it is genera...

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Abstract

The present invention provides an adaptive zero-speed interval detection method, and belongs to the technical field of pedestrian navigation and positioning. The method comprises: S1: acquiring outputdata of an inertial device in real time, wherein the output data comprises angular speed information and acceleration information of the inertial device; S2: determining an initial angular speed energy threshold of the angular speed zero-speed detection according to the angular speed information; S3: according to the initial angular speed energy threshold, performing angular speed zero-speed detection on a sliding window of the angular speed zero-speed detection, and determining the number of detection points in the sliding window and the interval state corresponding to the sliding window; S4: according to the number of the detection points and the interval state corresponding to the sliding window, adaptively adjusting the initial angular speed energy threshold to obtain an initial zero-speed interval based on the initial angular speed energy threshold; and S5: performing acceleration zero-speed detection on the initial zero-speed interval according to the acceleration information, and correcting the initial zero-speed interval to obtain a corrected zero-speed interval.

Description

technical field [0001] The invention relates to the technical field of pedestrian navigation and positioning, in particular to an adaptive zero-speed interval detection method. Background technique [0002] The zero-speed update method is an error correction method widely used in pedestrian navigation systems. It periodically clears the position error of the navigation solution according to the characteristics of the zero-speed interval in the pedestrian gait. The premise of zero-speed update is to accurately and effectively detect the zero-speed interval during pedestrian movement. Commonly used zero-speed interval detection methods include acceleration modulus method, angular velocity modulus method, acceleration sliding standard deviation method, or a combination of multiple methods. However, the threshold setting in the existing zero-speed interval detection methods is fixed or single, and cannot Adaptive adjustment to the change of gait, poor adaptability to multi-gait...

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
CPCG01C21/16G01C25/005
Inventor 李清华黄志威闻帆李新年于文昭
Owner HARBIN INST OF TECH
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