Zero speed detecting method, zero speed detecting device, and pedestrian navigation method as well as pedestrian navigation system

Abstract

The invention relates to the technical field of pedestrian navigation and provides a zero speed detecting method, a zero speed detecting device, and a pedestrian navigation method as well as a pedestrian navigation system. The zero speed detecting method comprises the following steps: detection statistic is calculated by comprehensively utilizing acceleration data and angular speed data when a human body walks, wherein a threshold parameter is divided into a detection threshold and a correction threshold; the detection threshold is predetermined in advance and is used for roughly dividing a gait time phase; the correction threshold is used for finely dividing the gait time phase; the zero speed detecting statistic is compared with the predetermined detection threshold to roughly divide the gait time phase; a swinging amplitude of a swinging phase and time duration of a support phase in a primary division result are classified by a clustering analysis method; the correction threshold of fine division of the gait time phase is obtained by self adaption; and a rough division result of the gait time phase is compared with the correction threshold to finely divide the gait time phase. By virtue of the zero speed detecting method, the zero speed detecting device, and the pedestrian navigation method and the pedestrian navigation system, the accuracy and the reliability of the pedestrian navigation system can be improved.

Description

technical field [0001] The invention relates to the technical field of pedestrian navigation, in particular to a zero-speed detection method and device, and a pedestrian navigation method and system. Background technique [0002] At present, positioning equipment based on GPS technology is developing rapidly in the market, and the market share is increasing year by year. However, GPS technology is susceptible to interference from the working environment, and is only suitable for open outdoor environments without shelter. There are navigation blind spots in areas such as indoors, jungles, underground mines, and caves, and cannot work normally. Therefore, the pedestrian navigation technology based on inertial sensors has been developed rapidly. [0003] In recent years, with the continuous development of Micro-Electro-Mechanical Systems (MEMS) technology, the inertial sensor (Inertial Measurement Unit, IMU) based on MEMS technology has also been greatly improved. Inertial se...

AI Technical Summary

Problems solved by technology

The zero-speed detection method is an important process in pedestrian navigation technology. The existing zero-speed detection methods are generally a single detection threshold method and a fixed time threshold method. Most of the existing zero-speed detection methods have inaccurate detection results (false detection and missed detection). Detection), manual adjustment of detection parameters and sensitivity to detection parameters, etc., affect the effectiveness of the subsequent zero-speed correction algorithm for pedestrian navigation, thereby introducing different degrees of pedestrian navigation errors and reducing the navigation accuracy and reliability of the pedestrian navigation system

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