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Wearable human body gait detection self-localization method

A technology of gait detection and autonomous positioning, which is applied in the field of navigation and positioning, can solve the problems of passing through walls, hurdles, the influence of navigation position information accuracy, and difficulty in establishing full accuracy, etc., and achieves high reliability, good use flexibility, and easy operation convenient effect

Active Publication Date: 2014-08-06
BEIJING INFORMATION SCI & TECH UNIV +1
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AI Technical Summary

Problems solved by technology

However, limited by positioning time, positioning accuracy, and complex indoor environments, today's navigation systems often appear to be unable to do what they want. Secondly, obstacles such as walls, no-passing road signs, and railings often appear indoors, and outdoor navigation systems basically do not consider these subtle obstacles, so problems such as passing through walls and hurdles will occur, giving User creates bad app experience
Its limitation lies in the high complexity of establishing the gait model library, it is difficult to establish a complete standard, and the gait matching degree and the corresponding relationship between the step length may not be able to achieve a high enough accuracy, so the calculated navigation Bit information accuracy will also be greatly affected

Method used

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  • Wearable human body gait detection self-localization method
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  • Wearable human body gait detection self-localization method

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Embodiment Construction

[0035] The process flow of a wearable human body gait detection autonomous positioning method provided by the present invention is as follows: Figure 4 Shown:

[0036]4-1: IMU inertial measurement unit, use it to measure uncorrected position, velocity, attitude and other related information and geomagnetic angle. 4-1-1 is the accelerometer: use it to measure the value of the three-axis acceleration; 4-1-2 is the gyroscope: use it to measure the value of the three-axis angular velocity; 4-1-3 is the geomagnetic sensor: use it to measure The three-axis geomagnetic angle is output to serve the geomagnetic angle update module in 4-3-3;

[0037] 4-2: for the gait detection module: through the measurement value in 4-1, perform multi-condition judgment, and capture and extract the static gait;

[0038] 4-3: Update the module for the correction data. 4-3-1: Trigger the zero velocity update module through the stationary gait; 4-3-2: Trigger the zero angular velocity update module t...

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Abstract

The invention discloses a wearable human body gait detection self-localization method which comprises the following steps: (1) aiming at the motion of a human body, establishing a state transition model, and calculating a position, a speed and a posture of a strapdown inertial navigation system; (2) utilizing constraint conditions of human body behavior detection to capture and extract human body static gait features; (3) performing attitude error integration according to zero-speed, zero angular speed and posture correction; (4) utilizing an intelligent filter to perform error estimation; (5) utilizing evaluated error to correct the posture and position of the human body motion. According to the invention, in terms of indoor positioning, powerful support is provided for convenient level and accuracy.

Description

technical field [0001] The invention belongs to the technical field of navigation and positioning, in particular to an autonomous positioning method for wearable human body gait detection. Background technique [0002] At present, outdoor navigation has become a relatively mature and practical technology. The technology is used to recommend optimized routes from start to end in a city full of buildings, and at the same time provide people with a variety of different route options. The finished products of outdoor navigation systems include systems such as Baidu Maps and Google Maps; after years of development, these systems have matured in technology. People have also gotten used to using these systems. [0003] However, with the rapid increase of data services and multimedia services, people's demand for positioning and navigation is increasing, especially in complex indoor environments, such as airport halls, exhibition halls, warehouses, supermarkets, libraries, undergr...

Claims

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Application Information

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IPC IPC(8): G01C21/00
CPCG01C21/165
Inventor 李擎李超刘宁苏中
Owner BEIJING INFORMATION SCI & TECH UNIV
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