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Pedestrian positioning method and system for tracking foot motion features

A technology of motion characteristics and positioning methods, applied in the direction of navigation through speed/acceleration measurement, navigation calculation tools, etc., can solve the problems of low accuracy, instability, and inefficient calculation of zero speed detection, and improve detection efficiency and accuracy, solving the problem of misjudgment of the zero-speed interval and the problem of blurring the edge of the zero-speed interval, and taking into account the effect of calculation efficiency

Inactive Publication Date: 2015-05-13
SHANGHAI ADVANCED RES INST CHINESE ACADEMY OF SCI
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  • Abstract
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  • Application Information

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Problems solved by technology

[0005] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a pedestrian positioning method and system for tracking foot movement characteristics, which is used to solve the problem that the pedestrian positioning method and system in the prior art cannot meet the real-time calculation requirements, And the calculation is not efficient, unstable, and the accuracy of zero speed detection is not high

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  • Pedestrian positioning method and system for tracking foot motion features
  • Pedestrian positioning method and system for tracking foot motion features
  • Pedestrian positioning method and system for tracking foot motion features

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Embodiment 1

[0042] This embodiment provides a pedestrian positioning method for tracking the movement characteristics of the feet, which is implemented by a positioning module and a sensing module respectively worn on the upper body and feet of the pedestrian, wherein the sensing module includes a three-axis gyroscope, Three-axis accelerometer, three-axis magnetometer. Wherein, the three-axis gyroscope senses the angular velocity of the pedestrian at every moment, the three-axis accelerometer senses the acceleration of the pedestrian at every moment, and the three-axis magnetometer senses the pedestrian’s acceleration at every moment. of magnetic induction. see figure 1 , is shown as a flow diagram of the pedestrian localization method for tracking foot motion features. The walker positioning method of described tracking foot motion feature comprises the following steps:

[0043] S1. Obtain the initial position information of the pedestrian provided by the positioning module, and the s...

Embodiment 2

[0088] This embodiment provides a pedestrian positioning system 1 that tracks the motion characteristics of the feet, and performs tracking pedestrian positioning through a positioning module and a sensing module that are respectively worn on the upper body and feet of the pedestrian, wherein the sensing module Including three-axis gyroscope, three-axis accelerometer, three-axis magnetometer. see Figure 4 , is shown as a schematic structural diagram of a pedestrian positioning system for tracking foot motion features. The pedestrian positioning system for tracking foot movement features includes: sensing module 11, positioning module 12, data acquisition module 13, preprocessing module 14, calculation module 15, judgment module 16, estimation module 17, calibration module 18, the second An output module 19 and a second output module 20 .

[0089] In this embodiment, the three-axis gyroscope, three-axis accelerometer, and three-axis magnetometer are integrated on the sensing...

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Abstract

The invention provides a pedestrian positioning method for tracking foot motion features. The method comprises the following steps: acquiring initial position information of a pedestrian and sensing data of the pedestrian at each moment; computing move position information of the pedestrian at the k-th moment according to the sensing data so as to acquire uncorrected move position information of the pedestrian at the k-th moment, wherein the move position information comprises position information computation error; by using one foot of both feet of the pedestrian as a reference foot, judging whether the reference foot is in the state of rest at the k-th moment according to a Bayesian speculation algorithm; if the reference foot is in the state of rest, continuously executing the next step; otherwise, outputting the uncorrected move position information of the pedestrian at the k-th moment; estimating the information position computation error; correcting the move position information of the pedestrian at the k-th moment, and outputting the corrected move position information of the pedestrian at the k-th moment. The detection efficiency and precision of zero speed are improved, and the error compensation on an inertial navigation pedestrian positioning algorithm is realized.

Description

technical field [0001] The invention belongs to the technical field of indoor positioning, and relates to a pedestrian positioning method and system, in particular to a pedestrian positioning method and system for tracking foot movement characteristics. Background technique [0002] With the rapid development of micro-electromechanical systems (MEMS), pedestrian navigation systems based on micro-sensors become possible. However, low-cost sensor devices, such as three-axis accelerometers, three-axis gyroscopes, three-axis magnetometers, etc., have unavoidable measurement drift, which will make the pedestrian inertial positioning algorithm fail to track within a certain period of time, because the error of the original data After two integrations, the calculated position error diverges as the cube of time. However, according to the research results of human kinematics, in a person's stride cycle, there is a foot movement prohibition time period. During the foot movement prohi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/16G01C21/20
Inventor 徐正蓺杨卫军张波马皛源李彦海魏建明
Owner SHANGHAI ADVANCED RES INST CHINESE ACADEMY OF SCI
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