Zero-speed correction method, gait measurement method and device

Abstract

The invention discloses a zero velocity update method, a gait measuring method and a device, and belongs to the field of inertial measurement. The zero velocity update method includes calculating position measurement values and gait measurement values in a plurality of sampling periods in a former movement period of a target to be measured according to collected movement parameters in the plurality of sampling periods in the former movement period of the target to be measured; acquiring a gait measurement error in the former movement period of the target to be measured according to a gait alignment value and a gait measurement value in the last sampling period in the former movement period of the target to be measured; according to the gait measurement error, correcting the gait measurement values in the plurality of sampling periods in the former movement period of the target to be measured to allow a speed measurement value of the last sampling period calculated based on the corrected gait measurement value to be the minimum; and based on the corrected gait measurement value, correcting the position measurement values of the target to be measured in the former movement period. The zero velocity update method, the gait measuring method and the device correct gait related measurement errors of micro gyroscopes.

Description

technical field [0001] The invention relates to the field of inertial measurement, in particular to a zero-speed correction method, a gait measurement method and a device. Background technique [0002] Inertial measurements are often used when measuring the trajectory of an object in motion. The process of inertial measurement may include: installing a gyroscope and an accelerometer on the target to obtain the motion parameters of the target during motion, such as the angular velocity measured by the gyro and the acceleration measured by the accelerometer, so that according to the velocity formula And the distance formula to calculate the movement track of the measured target. For example, installing a gyroscope and an accelerometer on a vehicle to obtain the vehicle's driving trajectory; or installing a gyroscope and an accelerometer on a shoe to obtain the gait of a person when walking, etc. [0003] For some small measured targets such as shoes, due to the size limitati...

AI Technical Summary

Problems solved by technology

In fact, in a movement cycle, the movement of the target is complicated, and the change of the speed measurement error caused by the attitude measurement error is not linear. Therefore, only the speed measurement error when parking is used for fitting, and the accurate speed measurement error

Moreover, if the motion cycle is longer, the error of the fitted curve will be larger, resulting in lower accuracy in measurement, and the difference between the measured motion trajectory and the actual motion trajectory is large

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