Zero-speed correction method based on sole pressure detection in pedestrian navigation

A technology of plantar pressure and pedestrian navigation, applied in the field of pedestrian navigation, can solve problems affecting the positioning accuracy of the navigation system, and achieve the effect of improving accuracy, improving accuracy, and improving positioning accuracy

Active Publication Date: 2017-03-08
NANCHANG UNIV
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AI Technical Summary

Problems solved by technology

[0004] During the navigation process, the output value of the accelerometer, the output value of the gyroscope and the calculated position, velocity, attitude angle and other information are usually noisy at any time, which affects the positioning accuracy of the entire navigation system.

Method used

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  • Zero-speed correction method based on sole pressure detection in pedestrian navigation
  • Zero-speed correction method based on sole pressure detection in pedestrian navigation
  • Zero-speed correction method based on sole pressure detection in pedestrian navigation

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Embodiment Construction

[0053] In order to realize zero-speed correction under high dynamics, the present invention provides a zero-speed correction method based on plantar pressure detection. Below in conjunction with accompanying drawing, the technical scheme of invention is described in detail:

[0054] (1) Install pressure sensors on the forefoot and heel of the human foot to collect the pressure values ​​of the forefoot and heel in real time during exercise, fix the MIMU at the ankle joint of the human foot, and collect the acceleration and angular velocity during the exercise information;

[0055] Before the navigation starts, the plantar pressure sensor and the MIMU are installed on the exact position. According to the characteristics that the pressure range on the soles of the feet is mainly the forefoot and the rear heel when the human body walks, the present invention respectively applies pressure on the forefoot and rear heel of the human body Install a plantar pressure sensor on each rea...

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Abstract

The invention provides a zero-speed correction method based on sole pressure detection in pedestrian navigation. Static sections are judged through the combination of the sole pressure value, the acceleration value and the angular speed value during motion, the speed values in the static sections serve as quantities of a Kalman filter to be measured, and error parameters are estimated and speed, position and posture errors are corrected through Kalman filtering. By setting multiple static section threshold values and judgment conditions, the accuracy of detecting the static sections is improved, detection of the static sections under high dynamic is promoted, meanwhile, the errors are corrected through the Kalman filter, and the positioning precision of pedestrian navigation is improved.

Description

technical field [0001] The invention relates to the technical field of pedestrian navigation, in particular to a zero-speed correction method based on plantar pressure detection. Background technique [0002] In the pedestrian navigation system, the inertial measurement method is mainly used to measure the movement trajectory of pedestrians. The main steps of measuring pedestrian trajectory include: installing gyroscopes and accelerometers on the human body to obtain the motion parameters of the human body, namely angular velocity and acceleration, so as to calculate the pedestrian’s walking trajectory according to the formula for solving velocity, position and attitude angle . The inevitable errors of gyroscopes and accelerometers lead to the position, velocity and other information after integral calculation including errors that drift with time. In order to improve the positioning accuracy of pedestrian navigation systems, zero-speed correction algorithms are often used ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 熊剑徐江颖杨祖华衷卫声郭杭
Owner NANCHANG UNIV
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