Personal locating method and personal locating device based on surface electromyogram signal and MEMS inertial measurement unit combination

Abstract

The invention discloses a personal locating method and a personal locating device based on surface electromyogram signal and MEMS inertial measurement unit combination. The personal locating method comprises the following steps: (1) establishing a neural skeletal muscle motion model through neural network training; (2) during practical locating, collecting surface electromyogram signals on the surface of a locater, and obtaining real-time auxiliary location information of the locator through the neural skeletal muscle motion model; (3) obtaining the real-time location information of the locator according to an MEMS inertial measurement unit, and merging the real-time auxiliary location information obtained in the second step and the real-time location information of the locator; (4) carrying out navigation solution on merged information, and thus obtaining the location data of the locator to realize personal locating. Without depending on any external information or equipment, the device is autonomous, convenient to install and carry, low in cost and high in suitable environment capacity. Indoor and outdoor seamless navigation unrestricted by GPS signals can be realized, and the precision and reliability of personal locating navigation are improved through combined navigation.

Description

technical field [0001] The invention relates to personal navigation and positioning, specifically a personal positioning method and device based on the combination of surface electromyography (SEMG) and MEMS inertial groups, and belongs to the technical field of personal navigation. Background technique [0002] The personal navigation system is mainly used to track and locate the real-time position of people walking on foot, and monitor the position changes of people in real time. As people's demand for navigation increases day by day, personal navigation systems suitable for various emergency situations such as indoors, underwater, underground, firefighting, emergency rescue, and outdoors where GPS signals are blocked have become a hot research topic today. At the same time, it also plays a pivotal role in individual combat in future wars, the detection and positioning of alien deep space walks, the development of bionic robots, and the development of real-life games. [...

AI Technical Summary

Problems solved by technology

[0004] At present, MEMS inertial groups are installed on the waist of walkers, and the established linear model is used to estimate the step length, but they cannot adapt to different walkers and different walking styles; there are MEMS inertial groups installed on the shoes of walkers, The zero-speed correction algorithm is used to detect the static time period when the foot touches the ground during walking, which is not suitable for various sports forms; there is a combination of MEMS inertial group and geomagnetic measurement components, and the use of magnetic sensors to determine the heading information of the movement, but Susceptible to the interference of the surrounding environment's magnetic field; there is a combination of EMG information and dead reckoning technology, using EMG information to estimate step length and stride frequency, and digital compass to determine the direction change of movement, but it is susceptible to electromagnetic interference, and it is sensitive to complex motion scenarios ability is also weak

In addition, the above positioning methods all require external information to assist positioning to varying degrees, and the test is limited or susceptible to environmental interference, making the positioning inaccurate

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