Zero-speed update method and system based on gait

Abstract

The invention discloses a zero-speed update method and system based on gait. The method includes the following steps: S1. Set a sensor group at the ankle of a human body to acquire acceleration data, gyroscope data and magnetometer data, and process them Obtain gait information, including stride frequency information and step length information; S2, judge the position of the zero-speed point in each gait cycle according to the stride frequency information, and determine the position when the acceleration reaches the maximum peak point in each gait cycle point is the zero-speed point, and the number of zero-speed points is calculated according to the step length information; S3. In the inertial navigation system, the acceleration data is integrated, and the zero-speed point is continuously substituted for error correction to obtain an optimized inertial navigation result. The invention can eliminate the influence of integral drift to a great extent, reduce the accumulated error when the acceleration is integrated twice, and can significantly improve the navigation accuracy of the inertial navigation system.

Description

technical field [0001] The invention relates to the field of information sensing, in particular to a gait-based zero-speed update method and system. Background technique [0002] Navigation and positioning technology is one of the important supporting technologies in modern society. With the continuous expansion and deepening of wireless network, mobile communication and pervasive computing technology applications, location-aware computing and location-based services are becoming more and more important. Typical examples include resource search, travel navigation, underground positioning, social positioning, and people and objects tracking. How to determine the user's location is the core issue in realizing LBS. Coupled with the rapid development of smart phones, the requirements for navigation and positioning functions are getting higher and higher, especially for the accuracy, reliability and continuity of navigation and positioning technology. At present, the positionin...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide an optimized inertial navigation result by accurately judging the zero-speed point and performing error correction in order to solve the defect that cumulative errors are prone to occur when the inertial navigation system performs secondary integration of acceleration in the prior art Gait-based zero-speed update method and system based on

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