Pedestrian gait detection method based on mobile equipment

Abstract

The invention discloses a pedestrian gait detection method based on mobile equipment. The method comprises the following steps: a, collecting sensor data of the mobile equipment in motion under a mobile equipment coordinate system; b, calculating to obtain a rotation matrix of the mobile equipment according to the sensor data of a mobile phone, and converting three-axis accelerometer data under the mobile equipment coordinate system into a geographic coordinate system; c, extracting a vertical component of the acceleration in a geographic coordinate system, and acquiring signal intensity; d, finding out the first two frequencies with the maximum signal intensity within the frequency range of [0.5, 4] Hz, and determining whether the ratio of the higher frequency to the lower frequency is within the range of [1.5, 2.5] or not; and e, determining the specific pace detection time by using a wave crest detection mode. According to the method, the relative motion information of the pedestrian and the mobile phone is filtered out according to the walking acceleration information frequency characteristics of the pedestrian, and finally effective data is extracted for gait detection, so that the gait detection accuracy is improved.

Description

technical field [0001] The invention relates to the technical field of positioning based on mobile devices, in particular to a pedestrian gait detection method based on mobile devices. Background technique [0002] The current positioning technology of mobile devices largely relies on the Pedestrian Dead Reckoning (PDR) system, which does not require pre-installed beacon nodes in buildings, and uses the inherent inertial sensors of mobile devices (such as acceleration sensors, gyroscopes, etc.) meter, magnetometer, etc.) to calculate the pedestrian's step length and direction, and infer the pedestrian's trace in the building. [0003] Pedestrian walking is a periodic motion process of alternating feet, and its periodicity will be reflected in the inertial sensor data of mobile devices, such as acceleration and gyroscope. A commonly used algorithm in gait detection is the peak / zero-crossing detection algorithm based on accelerometer data. Its advantage is that the algorithm ...

AI Technical Summary

Problems solved by technology

[0004] At present, due to the generally low precision of the hardware equipment of the inertial sensor of the mobile device, different types of sensors equipped with different devices, and random changes in the walking state of pedestrians, the collected acceleration signal contains noise, which makes the accuracy of the traditional detection algorithm not high.

On the other hand, the state of pedestrians in the process of using the mobile device is random, and there may be unfixed relative motion with the device, especially when the pedestrian is holding the device and swinging around, resulting in relatively changing information polluting the pedestrian's motion information , the gait detection has missed detection

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