CN110455316B - Self-adaptive zero-speed interval detection method - Google Patents
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Abstract
The invention provides a self-adaptive zero-speed interval detection method, and belongs to the technical field of pedestrian navigation and positioning. The method comprises the following steps: s1: acquiring output data of an inertial device in real time, wherein the output data comprises angular velocity information and acceleration information of the inertial device; s2: determining an initial angular velocity energy threshold value of angular velocity zero-speed detection according to the angular velocity information; s3: performing angular velocity zero-velocity detection on a sliding window for angular velocity zero-velocity detection according to the initial angular velocity energy threshold, 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, the initial angular velocity energy threshold value is adjusted in a self-adaptive mode, and an initial zero-speed interval based on the initial angular velocity energy threshold value is obtained; s5: and carrying out 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
The invention relates to the technical field of pedestrian navigation and positioning, in particular to a self-adaptive zero-speed interval detection method.
Background
The zero-speed updating method is an error correction means widely adopted by a pedestrian navigation system, and periodically clears the position error of navigation calculation according to the characteristic that zero-speed intervals periodically exist in gait of pedestrians. The precondition of zero-speed updating is to accurately and effectively detect the zero-speed interval in the moving process of the pedestrian. Common zero-speed interval detection methods comprise an acceleration modulus method, an angular velocity modulus method, an acceleration sliding standard deviation method or a plurality of methods, but the existing zero-speed interval detection method has fixed or single threshold value setting, cannot carry out self-adaptive adjustment according to the change of gait and has poor adaptability to multi-step-state motion.
Disclosure of Invention
The invention solves the problem that the existing zero-speed interval detection method has poor adaptability to multiple steps.
The invention provides a self-adaptive zero-speed interval detection method on one hand, which comprises the following steps:
s1: acquiring output data of an inertial device in real time, wherein the output data comprises angular velocity information and acceleration information of the inertial device;
s2: determining an initial angular velocity energy threshold value of angular velocity zero-speed detection according to the angular velocity information;
s3: performing angular velocity zero-velocity detection on a sliding window for angular velocity zero-velocity detection according to the initial angular velocity energy threshold, 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, the initial angular velocity energy threshold value is adjusted in a self-adaptive mode, and an initial zero-speed interval based on the initial angular velocity energy threshold value is obtained;
s5: and carrying out 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.
Optionally, the step of S4 includes:
s410: calculating the time t corresponding to the sliding window according to the number of the detection points;
s420: and carrying out self-adaptive adjustment on the initial angular velocity energy threshold value according to the time t and the interval state corresponding to the sliding window to obtain the initial zero-speed interval based on the initial angular velocity energy threshold value.
Optionally, the step S420 includes:
when the interval state corresponding to the sliding window is a motion interval, judging whether the time t meets t or not1≤t≤t2Wherein, t1Is a first predetermined time, t2For a second preset time: returning to the step of S3, performing angular velocity zero-speed detection on the next sliding window; no, for the initial angular velocity energy threshold TωCarrying out self-adaptive adjustment, and carrying out zero-speed interval judgment according to the adjustment times of the initial angular speed energy threshold;
when the interval state corresponding to the sliding window is a zero-speed interval, judging whether the time t meets the condition that t is more than or equal to t3Wherein t is3For a third preset time: if yes, the sliding window is determined as the initial zero-speed interval; and if not, carrying out self-adaptive adjustment on the initial angular velocity energy threshold value, and carrying out zero-speed interval judgment according to the adjustment times of the initial angular velocity energy threshold value.
Optionally, when the interval state corresponding to the sliding window is a motion interval, the adaptively adjusting the initial angular velocity energy threshold includes:
when the time t satisfies the condition that t is less than t1Decreasing the initial angular velocity energy threshold T ω;
when the size of the time t satisfies t > t2Increasing the initial angular velocity energy threshold.
Optionally, when the section state corresponding to the sliding window is a zero-speed section, the adaptively adjusting the initial angular velocity energy threshold value is:
increasing the initial angular velocity energy threshold.
Optionally, the determining the zero velocity interval according to the number of times of adjusting the initial angular velocity energy threshold includes:
counting the adjustment times of the initial angular velocity energy threshold, and judging whether the adjustment times of the initial angular velocity energy threshold exceed a preset value: otherwise, go back to step S3; if yes, judging whether the sliding window is a zero-speed interval: if yes, the sliding window is determined as the initial zero-speed interval; otherwise, the process returns to step S3, and angular velocity zero speed detection is performed for the next sliding window.
Optionally, the step of S5 includes:
s510: determining an acceleration amplitude threshold value of acceleration zero-speed detection according to the acceleration information corresponding to the initial zero-speed interval detection point in the initial zero-speed interval;
s520: and performing acceleration zero-speed detection on all the initial zero-speed interval detection points according to the acceleration amplitude threshold, and correcting the initial zero-speed interval to obtain a corrected zero-speed interval.
Optionally, the step S510 includes:
s511: calculating acceleration amplitudes corresponding to all the initial zero-speed interval detection points according to the acceleration information corresponding to the initial zero-speed interval detection points;
s512: sequencing the acceleration amplitudes corresponding to all the initial zero-speed interval detection points, and generating a temporary interval according to the sequenced acceleration amplitudes;
s513: and determining the acceleration amplitude threshold according to the acceleration amplitude corresponding to the detection point of the temporary interval in the temporary interval.
Optionally, the step S520 includes:
sequentially carrying out acceleration zero-speed detection on the initial zero-speed interval detection points according to the acceleration amplitude threshold value to obtain all the initial zero-speed interval detection points in a zero-acceleration state;
and generating the corrected zero-speed interval according to the initial zero-speed interval detection points in all zero acceleration states.
Optionally, the step S2 includes:
s210: calculating the angular velocity energy of the first n (n is more than or equal to 1) detection points according to the angular velocity information;
s220: calculating an angular velocity energy mean value and an angular velocity energy standard deviation according to the angular velocity energy;
s230: and determining the initial angular velocity energy threshold value according to the angular velocity energy mean value and the angular velocity energy standard deviation.
The self-adaptive zero-speed interval detection method determines an initial angular speed energy threshold value through angular speed information output by an inertial device, so that the initial angular speed energy threshold value is matched with the initial gait of a pedestrian; then, carrying out angular velocity zero-speed detection on a sliding window according to the initial angular velocity energy threshold value, determining the number of detection points in the sliding window and an interval state corresponding to the sliding window, carrying out self-adaptive adjustment on the initial angular velocity energy threshold value according to the interval state and the number of the detection points, adjusting the initial angular velocity energy threshold value in a gradual emergency approach mode, obtaining an initial zero-speed interval based on the initial angular velocity energy threshold value, and reducing the probability of missed detection of detection points in the zero-speed state; the self-adaptive zero-speed interval detection method can gradually adjust the initial angular speed energy threshold value in the moving process of the pedestrian, can realize the zero-speed interval detection of multiple gaits, and has high detection reliability and strong practicability.
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FIG. 1 is a general flow chart of the adaptive zero-speed interval detection method of the present invention;
FIG. 2 is a flowchart of the step S2 of one embodiment of the adaptive null interval detection method according to the invention;
FIG. 3 is a flowchart of the step S4 in one embodiment of the adaptive null interval detection method according to the invention;
fig. 4 is a schematic diagram of a zero-velocity interval and a motion interval in one embodiment of the adaptive zero-velocity interval detection method according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Referring to fig. 4, the left foot is taken as an example in the movement of the pedestrian: pose1-Pose2 is a movement interval, namely a gait process corresponding to the contact between the left foot and the ground and the sole is a movement interval, Pose3-Pose4 is a zero-speed interval, namely a gait process corresponding to the contact between the left foot and the ground is a zero-speed interval all the time; in pedestrian navigation, a motion parameter is generally corrected by obtaining a motion observed quantity in a zero-velocity interval, and in a zero-velocity interval corresponding to a sole landing in practice, a condition that a velocity is zero and an acceleration is not zero is included, and therefore, generally, the velocity and the acceleration are comprehensively determined. And due to the existence of personal differences and multi-step states, the detection adaptability of the zero-speed interval is poor.
The present inventors have proposed an adaptive zero-velocity interval detection method for gradual adjustment based on long-term studies. The main basis is that no matter what gait the pedestrian is in, the zero-speed interval is not too short, and the movement interval is not too long. The method comprises the steps of firstly processing output data of an inertia device to obtain an initial angular velocity energy threshold value of angular velocity zero-speed detection, then adjusting the initial angular velocity energy threshold value in a gradual approximation mode until gait of a pedestrian initially accords with basic rules of pedestrian movement to obtain an initial zero-speed interval based on the initial angular velocity energy threshold value, wherein the main purpose of the step is to prevent zero-speed detection points from leaking as far as possible, at the moment, the initial zero-speed interval is larger than a real zero-speed interval, and then performing zero-speed correction through acceleration zero-speed detection to obtain a corrected zero-speed interval.
It should be noted that, in this specification, a data set output by the inertial device at the same time point is analyzed as a detection point; the sliding window represents an interval composed of a plurality of detection points, the sliding window is an interval with the length of one interval, namely the interval with the number of the detection points changing, when the state corresponding to the detection points changes, the sliding window is finished, and the initial starting point of the next sliding window is the first detection point behind the sliding window. In this specification, the section state corresponding to the sliding window is a zero-velocity section or the sliding window is a zero-velocity section, which both means that the section composed of the detection points in the sliding window is a zero-velocity section; the interval state corresponding to the sliding window is a motion interval or the sliding window is a motion interval, which means that the interval composed of the detection points in the sliding window is a motion interval.
Referring to fig. 1, a method for detecting a self-adaptive zero-speed interval includes:
s1: acquiring output data of an inertial device in real time, wherein the output data comprises angular velocity information and acceleration information of the inertial device;
s2: determining an initial angular velocity energy threshold T of angular velocity zero-speed detection according to the angular velocity informationω；
S3: according to the initial angular velocity energy threshold value TωPerforming angular velocity zero-velocity detection on a sliding window for angular velocity zero-velocity detection, and determining the slidingThe number L of detection points in the window and the interval state corresponding to the sliding window;
s4: according to the number L of the detection points and the interval state corresponding to the sliding window, the initial angular velocity energy threshold value T is setωCarrying out self-adaptive adjustment to obtain an initial zero-speed interval based on the initial angular speed energy threshold value;
s5: and carrying out 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.
Referring to fig. 2, in some embodiments, the step of S2 includes:
and S210, calculating the angular velocity energy of the first n (n is more than or equal to 1) detection points according to the angular velocity information.
Specifically, from the beginning of detection calculation, the angular velocity information of the first n detection points is obtained, and the angular velocity energy corresponding to the angular velocity information is calculated; energy of angular velocity omegaiThe calculation formula is as follows:
wherein
And
the angular velocity information is acquired by the triaxial gyroscope at the ith (i is more than or equal to 1 and less than or equal to n, and n is less than 30) detection point.
S220, calculating the average value mu of the angular velocity energy according to the angular velocity energyωSum angular velocity energy standard deviation sigmaω。
In particular, the energy mean value μ of angular velocityωThe calculation formula is as follows:
energy standard deviation sigma of angular velocityωThe calculation formula is as follows:
s230, according to the angular velocity energy mean value muωAnd the angular velocity energy standard deviation sigmaωDetermining the initial angular velocity energy threshold Tω。
Specifically, ω is extracted1,ω2,…ωnThe angular velocity energies satisfying the following equation are respectively denoted as ωiWherein i is 1,2, …, W, W is less than or equal to n
ωi≤μω+λ1σω
Wherein λ1Is constant and is calibrated by experimental data, in this example, lambda1＝5，
Taking the initial angular velocity energy threshold TωComprises the following steps:
Tω＝max{ωi}
of course, it should be understood that in some embodiments, the initial angular velocity energy threshold T may be takenωComprises the following steps:
Tω＝μω+λ1σω
thus, the energy mean value mu of angular velocity of the first n (n > 1) detection points is firstly calculated according to the angular velocity informationωSum angular velocity energy standard deviation sigmaωAnd then according to the angular velocity energy mean value muωAnd the angular velocity energy standard deviation sigmaωDetermining the initial angular velocity energy threshold TωThe initial angular velocity energy threshold T is determined regardless of the gait of the pedestrian at the time of starting the detectionωAre all equal to the energy mean value mu of the angular velocityωAnd the angular velocity energy standard deviation sigmaωAssociated with said initial angular velocity energy threshold TωCan be initially adapted to the gait of the pedestrian for the subsequent pair of the initial angular velocity energy threshold value TωThe self-adaptive adjustment provides a foundation, meets the requirement of multi-step zero-speed interval detection, and has high reliability and practicabilityIs strong.
In some embodiments, the step of S3 includes:
and S310, sequentially carrying out angular velocity zero-speed detection on the detection points in the sliding window from front to back until the angular velocity zero-speed detection data meet a first end condition.
Specifically, angular velocity zero-speed detection is performed according to an angular velocity zero-speed detection formula, which is as follows:
wherein j is the j detection point calculated from the start of detection, Cj ωFor the motion state corresponding to the jth detection point, when Cj ωWhen the motion state corresponding to the jth detection point is 1, the motion state corresponding to the jth detection point is a zero-speed state, and when the motion state is Cj ωWhen the j-th detection point corresponds to 0, the motion state corresponding to the j-th detection point is a motion state;
the first end condition is as follows:
wherein P is the first detection point in the sliding window, L0Is an integer greater than 0;
s320: and when the angular velocity zero-speed detection data meet a first end condition, determining the number L of the detection points in the sliding window.
Specifically, the number of detection points L: l ═ L0(ii) a (P + L) th0-1) the last detection point within the sliding window;
s330: when the first detection point in the sliding window is in a zero-speed state, the interval state corresponding to the sliding window is a zero-speed interval, and when the first detection point in the sliding window is in a motion state, the interval state corresponding to the sliding window is a motion interval.
In particular, when
When the sliding window is in the zero-speed interval, the corresponding interval state of the sliding window is the zero-speed interval
And if so, the interval state corresponding to the sliding window is a motion interval.
It should be understood that in other embodiments, the step S310 further includes:
and when the first detection point in the sliding window is in a zero-speed state, sequentially carrying out angular speed zero-speed detection on the detection points before the sliding window from back to front by using the first detection point until the angular speed zero-speed detection data meet a second end condition.
That is, when
And then, according to the angular velocity zero-speed detection formula, sequentially carrying out angular velocity zero-speed detection on detection points before the sliding window from back to front by taking P as a starting point until the angular velocity zero-speed detection data meet a second end condition.
The second end condition is:
or
Wherein L is1Is an integer greater than 0.
Accordingly, in the step S320, the number of detection points L: l ═ L0+L1. It should be understood that, at this time, the section corresponding to the sliding window changes, and the first detection point P in the sliding window has: P-L1+1。
Thus, when the section state corresponding to the sliding window is the zero speed stateWhen said initial angular velocity energy threshold value TωAfter the self-adaptive adjustment is carried out, the corresponding range of the sliding window is correspondingly adjusted according to the initial angular velocity energy threshold value TωForward and backward adjustment, avoided leaking the emergence of zero-speed state check point, the reliability is high, and the practicality is strong.
Referring to fig. 3, the step S4 includes:
s410: and calculating the time t corresponding to the sliding window according to the number L of the detection points.
Specifically, the time t ═ (L-1) × t0Wherein t is0For the detection period of the inertial device, in this embodiment, the detection frequency of the inertial device is 100Hz, that is, t0Was 0.01 s.
S420: according to the time T and the interval state corresponding to the sliding window, carrying out energy threshold T on the initial angular velocityωCarrying out self-adaptive adjustment to obtain an energy threshold value T based on the initial angular velocityωThe initial zero speed interval.
Specifically, in some embodiments, the step S420 includes:
when the interval state corresponding to the sliding window is a motion interval, judging whether the time t meets t or not1≤t≤t2Wherein, t1Is a first predetermined time, t2For a second preset time: returning to the step of S3, performing angular velocity zero-speed detection on the next sliding window; no, for the initial angular velocity energy threshold TωPerforming self-adaptive adjustment and according to the initial angular velocity energy threshold value TωThe zero-speed interval is judged according to the adjustment times;
when the interval state corresponding to the sliding window is a zero-speed interval, judging whether the time t meets the condition that t is more than or equal to t3Wherein t is3For a third preset time: if yes, the sliding window is determined as the initial zero-speed interval; no, for the initial angular velocity energy threshold TωPerforming self-adaptive adjustment and according to the initial angular velocity energy threshold value TωThe zero-speed interval is judged according to the adjustment times.
It should be understood that, when the sliding window is a motion interval, the motion interval is neither too short nor too long in any gait according to the motion characteristics of the person, and whether the time t satisfies t is determined by determining whether the time t satisfies t1≤t≤t2Determining whether the initial angular velocity energy threshold T needs to be adjustedωThe judgment basis is reliable, and the practicability is strong. The first preset time t1The second preset time t2Calibrated according to experimental data, in some embodiments, the first preset time t10.05s, the second preset time t2In the present embodiment, the first preset time t is 3s10.1s, the second preset time t2＝2s。
It should be understood that the starting point of the next sliding window is the first detection point after the sliding window.
Specifically, when the section state corresponding to the sliding window is a motion section, the initial angular velocity energy threshold T is setωThe step of performing adaptive adjustment comprises:
when the time t satisfies the condition that t is less than t1While decreasing said initial angular velocity energy threshold Tω；
When the size of the time t satisfies t > t2While increasing the initial angular velocity energy threshold Tω。
Specifically, in some embodiments, when the time t satisfies t < t1While, the initial angular velocity energy threshold TωThe adjustment mode is as follows: t isω＝k1*TωWherein k is1＜1，k1Is constant and is calibrated by experimental data; in some embodiments, k is10.85, in the present embodiment, k is10.95; in other implementations, when the time t satisfies t < t1While, the initial angular velocity energy threshold TωThe adjustment mode is as follows: t isω＝minj＝P,…,P+L{ωj}。
In particular, in some embodiments, the magnitude of the time tSatisfy t > t2While, the initial angular velocity energy threshold TωThe adjustment mode is as follows: t isω＝k2*TωWherein k is2＞1，k2Is constant and is calibrated by experimental data; in some embodiments, k is21.15, in the present embodiment, k is2＝1.05。
Thus, when the sliding window is a motion interval, whether the time t meets t or not is judged1≤t≤t2When the size of the time t does not satisfy t1≤t≤t2Time, specific case to the initial angular velocity energy threshold value TωCarrying out self-adaptive adjustment, and adjusting the initial angular velocity energy threshold value T in a gradual approximation modeωWhen the size of the time t satisfies t1≤t≤t2And then, determining that the sliding window accords with the rule of the motion interval, determining that the sliding window is the motion interval, and detecting the next sliding window, wherein the reliability is high and the practicability is strong.
Specifically, when the interval state corresponding to the sliding window is a zero-velocity interval, according to the motion characteristics of a person, in any gait, the zero-velocity interval is not too short, and whether the initial angular velocity energy threshold T needs to be adjusted or not is determined by judging whether the time T meets a third preset time or notωThe judgment basis is reliable. The third preset time t3Calibrated according to experimental data, in some embodiments, the third preset time t3：t31.5s, in the present embodiment, the time t3＝0.5s。
Specifically, when the section state corresponding to the sliding window is a zero-speed section, the initial angular velocity energy threshold T is setωThe self-adaptive adjustment is as follows:
increasing the initial angular velocity energy threshold Tω。
In particular, in some embodiments, when the magnitude of the time t does not satisfy: t is greater than or equal to t3While, the initial angular velocity energy threshold TωThe adjustment mode is as follows: t isω＝k3*TωWherein k is3＞1，k3Is constant and is calibrated by experimental data; in other embodiments, the initial angular velocity energy threshold TωThe adjustment mode is as follows:
wherein k is4、k5Is an integer, scaled by experimental data, preferably, k4+k5L, in particular, in some embodiments k4＝L，k50; thus, the initial angular velocity energy threshold T is increasedωAdjusting the initial angular velocity energy threshold T by means of a gradual approximationωHigh reliability and strong practicability.
Thus, when the interval state corresponding to the sliding window is a zero-speed interval, whether the time t meets the condition that t is more than or equal to t is judged3When the time t does not satisfy t ≧ t3Adjusting the initial angular velocity energy threshold T by means of gradual approximationωAvoiding the occurrence of zero-speed leakage state detection point, and when the time t satisfies t ≥ t3And then, determining that the sliding window accords with the rule of the zero-speed interval, determining that the sliding window is the initial zero-speed interval, and having high reliability and strong practicability.
Said and is based on said initial angular velocity energy threshold TωThe zero-speed interval judgment of the adjustment times comprises:
counting the initial angular velocity energy threshold TωJudging the initial angular velocity energy threshold value TωWhether the adjustment times exceed a preset value: otherwise, go back to step S3; if yes, judging whether the sliding window is a zero-speed interval: if yes, the sliding window is determined as the initial zero-speed interval; otherwise, the process returns to step S3, and angular velocity zero speed detection is performed for the next sliding window.
Specifically, the preset value may be determined according to an experimental value, or may be manually specified. Thus, when the initial angular velocity energy threshold T isωThe number of times of adjustment exceeds the predetermined valueStopping setting the initial angular velocity energy threshold TωThe adjustment of (2) avoids a large amount of operations, has reduced the data processing degree of difficulty, simultaneously, can also ensure to a certain extent the reliability of initial zero-speed interval data, the reliability is high, and the practicality is strong. It should be understood that, in the detection of the same sliding window, the initial angular velocity energy threshold T is counted whether the sliding window is a motion interval or a zero velocity intervalωThe number of adjustments.
In some embodiments, the step of S5 includes:
s510: determining an acceleration amplitude threshold value of acceleration zero-speed detection according to the acceleration information corresponding to the initial zero-speed interval detection point in the initial zero-speed interval;
s520: and performing acceleration zero-speed detection on all the initial zero-speed interval detection points according to the acceleration amplitude threshold, and correcting the initial zero-speed interval to obtain a corrected zero-speed interval.
Specifically, the step S510 includes:
s511: and calculating the acceleration amplitude corresponding to all the initial zero-speed interval detection points according to the acceleration information corresponding to the initial zero-speed interval detection points.
Specifically, the acceleration amplitude calculation formula is:
wherein,
and
and respectively obtaining the acceleration information of the inertia device at the ith detection point.
S512: and sequencing the acceleration amplitudes corresponding to all the initial zero-speed interval detection points, and generating a temporary interval according to the sequenced acceleration amplitudes.
Specifically, the sorting may be ascending order/descending order, L is the number of the initial zero speed interval detection points, the acceleration amplitudes corresponding to all the initial zero speed interval detection points are ascending order/descending order arranged, and L acceleration amplitudes corresponding to the sorted initial zero speed interval detection points are respectively recorded as f'1,f′2,…,f′LThe acceleration amplitudes corresponding to the temporary intervals are recorded as f'Q-R+1,f′Q-R+2,…,f′Q+RWherein
1/4≤k6＜1/2，k6calibrated by experimental data, in some embodiments, k 61/4, that is, Q is the smallest integer equal to or greater than L/2 and R is the smallest integer equal to or greater than L/4.
S513: and determining the acceleration amplitude threshold according to the acceleration amplitude corresponding to the detection point of the temporary interval in the temporary interval.
Specifically, the step S513 includes:
calculating an acceleration amplitude mean value mu according to the acceleration amplitude corresponding to the temporary interval detection point in the temporary intervalfSum acceleration amplitude standard deviation sigmaf；
According to the acceleration amplitude mean value mufAnd the standard deviation sigma of the acceleration amplitudefAnd calculating the acceleration amplitude threshold value.
In particular, the mean value μ of the acceleration amplitudesfThe calculation formula is as follows:
the acceleration amplitude standard deviation sigmafThe calculation formula is as follows:
in particular, the accelerationThe degree amplitude threshold value comprises an acceleration amplitude upper threshold value Tf onAnd an acceleration amplitude upper threshold Tf is lowerIn the case of a liquid crystal display device, in particular,
the upper threshold value T of the acceleration amplitudef on：Tf on＝μf+λ2σf，
The upper threshold value T of the acceleration amplitudef is lower：Tf is lower＝μf-λ3σf，
Wherein λ is2And λ3Is constant, calibrated by experimental data, in some embodiments, λ2＝3，λ3＝3。
Specifically, the step S520 includes:
and sequentially carrying out acceleration zero-speed detection on the initial zero-speed interval detection points according to the acceleration amplitude threshold value to obtain all the initial zero-speed interval detection points in a zero-acceleration state.
In particular, according to said upper threshold value T of the acceleration amplitudef onAnd an upper threshold value T of the acceleration amplitudef is lowerAnd sequentially carrying out acceleration zero-speed detection on the initial zero-speed interval detection points from front to back, wherein the acceleration zero-speed detection formula is as follows:
wherein, therein
The motion state at time j is 1 indicating a zero acceleration state and 0 indicating a motion state.
And generating the corrected zero-speed interval according to the initial zero-speed interval detection points in all zero acceleration states.
It should be noted that normally, all the initial zero-velocity interval detection points of the zero-acceleration state are continuous to form the corrected zero-velocity interval, but in some extreme cases, all the initial zero-velocity interval detection points of the zero-acceleration state are not completely continuous, and in this case, if the adjacent zero-acceleration state is not completely continuousWhen the initial zero-velocity interval detection points in the motion state are spaced among the initial zero-velocity interval detection points, as long as the number of the initial zero-velocity interval detection points in the motion state does not exceed a preset value S, the initial zero-velocity interval detection points in the motion state are considered to belong to the corrected zero-velocity interval, the preset value S is calibrated according to experimental data, and in some embodiments, the preset value S:
1/8≤k7< 1/4. But when the pedestrian is positioned and navigated subsequently, the continuous zero-speed interval detection point in the zero acceleration state is adopted for positioning and navigating.
It should be noted that, after the corrected stall interval, the process returns to step S3 to perform the angular velocity stall detection of the next sliding window, where the starting point of the next sliding window is the first detection point after the initial stall interval.
In this example, the IMU was tied to the instep, and the raspberry pie was secured to the waist and moved over an 80m by 60m rectangular playground. 4 groups of data are collected in the experiment, wherein two groups of data are collected during normal walking, move 193 steps and 204 steps respectively and are marked as W _193 and W _ 204; the other two groups are collected during mixed movement, the steps of 133 and 145 are respectively collected and recorded as Hunhe _133 and Hunhe _145, a three-condition method is simultaneously adopted for zero-speed detection, the detection results are shown in table 1, and the analysis of the data in the table 1 shows that when the movement gait is single walking, the average omission rates of the self-adaptive algorithm and the three-condition method are respectively 0.505% and 1%; when the locomotor gait was mixed, the average missed detection rates were 0.375% and 28.925%, respectively.
Whether single movement or mixed movement is adopted, the step number missing detection rate of the self-adaptive algorithm is lower than that of a three-condition method, when the gait is single, the step number can be accurately detected by the self-adaptive algorithm and the gait is single, but the accuracy rate of the self-adaptive algorithm is higher; when the gait is changeable, the self-adaptive algorithm can still accurately detect the step number, but the three condition rules have multi-step missing detection and cannot accurately detect the step number; the method is proved to be capable of accurately detecting the step number and strong in adaptability to the gait.
TABLE 1 comparison of step number detection results of adaptive algorithm and three-condition method
Note:
the self-adaptive zero-speed interval detection method firstly determines the initial angular speed energy threshold value T through the angular speed information output by the inertial deviceωSo that said initial angular velocity energy threshold value TωMatching the initial gait of the pedestrian; then according to the initial angular velocity energy threshold value TωDetecting the angular velocity zero speed of a sliding window, determining the number L of detection points in the sliding window and the interval state corresponding to the sliding window, and carrying out energy threshold T on the initial angular velocity according to the interval state and the number L of the detection pointsωCarrying out self-adaptive adjustment, and adjusting the initial angular velocity energy threshold value T in a gradual urgent approach modeωObtaining an initial zero-speed interval based on the initial angular speed energy threshold value, and reducing the probability of missed detection of a zero-speed state detection point; and correcting the initial zero-speed interval through acceleration zero-speed detection to obtain the accurate corrected zero-speed interval. The invention can gradually adjust the initial angular velocity energy threshold T in the pedestrian movement processωThe zero-speed interval detection of multiple gaits can be realized, the reliability is high, and the practicality is strong.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (8)
1. An adaptive zero-speed interval detection method is characterized by comprising the following steps:
s1: acquiring output data of an inertial device in real time, wherein the output data comprises angular velocity information and acceleration information of the inertial device;
s2: determining an initial angular velocity energy threshold T of angular velocity zero-speed detection according to the angular velocity informationω；
S3: according to the initial angular velocity energy threshold value TωCarrying out angular velocity zero-speed detection on a sliding window for angular velocity zero-speed detection, and determining the number L of detection points in the sliding window and an interval state corresponding to the sliding window;
s4: calculating the time T corresponding to the sliding window according to the number L of the detection points, and carrying out energy threshold T on the initial angular velocity according to the time T and the interval state corresponding to the sliding windowωCarrying out self-adaptive adjustment to obtain an initial zero-speed interval based on the initial angular speed energy threshold value:
when the interval state corresponding to the sliding window is a motion interval, judging whether the time t meets t or not1≤t≤t2Wherein, t1Is a first predetermined time, t2For a second preset time: returning to the step of S3, performing angular velocity zero-speed detection on the next sliding window; no, for the initial angular velocity energy threshold TωPerforming self-adaptive adjustment and according to the initial angular velocity energy threshold value TωThe zero-speed interval is judged according to the adjustment times;
when the interval state corresponding to the sliding window is a zero-speed interval, judging whether the time t meets the condition that t is more than or equal to t3Wherein t is3For a third preset time: if yes, the sliding window is determined as the initial zero-speed interval; no, for the initial angular velocity energy threshold TωPerforming self-adaptive adjustment and according to the initial angular velocity energy threshold value TωThe zero-speed interval is judged according to the adjustment times;
s5: and carrying out 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.
2. The adaptive zero-velocity interval detection method as claimed in claim 1, wherein the energy threshold T for the initial angular velocity is set when the interval status corresponding to the sliding window is a motion intervalωThe step of performing adaptive adjustment comprises:
when the time t satisfies the condition that t is less than t1While decreasing said initial angular velocity energy threshold Tω；
When the size of the time t satisfies t > t2While increasing the initial angular velocity energy threshold Tω。
3. The adaptive zero-velocity interval detection method of claim 1, wherein the energy threshold T for the initial angular velocity is set when the interval status corresponding to the sliding window is a zero-velocity intervalωThe self-adaptive adjustment is as follows:
increasing the initial angular velocity energy threshold Tω。
4. The adaptive interval zero-velocity detection method of claim 1, wherein said detecting is based on said initial angular velocity energy threshold TωThe zero-speed interval judgment of the adjustment times comprises the following steps:
counting the initial angular velocity energy threshold TωJudging the initial angular velocity energy threshold value TωWhether the adjustment times exceed a preset value: otherwise, go back to step S3; if yes, judging whether the sliding window is a zero-speed interval: if yes, the sliding window is determined as the initial zero-speed interval; otherwise, the process returns to step S3, and angular velocity zero speed detection is performed for the next sliding window.
5. The adaptive zero-speed interval detection method of claim 1, wherein the step of S5 comprises:
s510: determining an acceleration amplitude threshold value of acceleration zero-speed detection according to the acceleration information corresponding to the initial zero-speed interval detection point in the initial zero-speed interval;
s520: and performing acceleration zero-speed detection on all the initial zero-speed interval detection points according to the acceleration amplitude threshold, and correcting the initial zero-speed interval to obtain the corrected zero-speed interval.
6. The adaptive zero-speed interval detection method of claim 5, wherein the step S510 comprises:
s511: calculating acceleration amplitudes corresponding to all the initial zero-speed interval detection points according to the acceleration information corresponding to the initial zero-speed interval detection points;
s512: sequencing the acceleration amplitudes corresponding to all the initial zero-speed interval detection points, and generating a temporary interval according to the sequenced acceleration amplitudes;
s513: and determining the acceleration amplitude threshold according to the acceleration amplitude corresponding to the detection point of the temporary interval in the temporary interval.
7. The adaptive zero-velocity interval detection method of claim 6, wherein the step S520 comprises:
sequentially carrying out acceleration zero-speed detection on the initial zero-speed interval detection points according to the acceleration amplitude threshold value to obtain all the initial zero-speed interval detection points in a zero-acceleration state;
and generating the corrected zero-speed interval according to the initial zero-speed interval detection points in all zero acceleration states.
8. The adaptive zero-speed interval detection method according to claim 1, wherein the step S2 includes:
s210: calculating the angular velocity energy of the first n (n is more than or equal to 1) detection points according to the angular velocity information;
s220: calculating the angular velocity energy mean value mu according to the angular velocity energyωSum angular velocity energy standard deviation sigmaω；
S230: according to the angular velocity energy mean value muωAnd the angular velocity energy scaleTolerance sigmaωDetermining the initial angular velocity energy threshold Tω。
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