Real-time calculation method of step size based on topological information of indoor floor plan
A technology of topological information and real-time calculation, applied in the field of navigation, can solve the problems of difficult acquisition and information, achieve good user experience, avoid manual input, and achieve the effect of real-time calculation
Active Publication Date: 2021-12-03
金华航大北斗应用技术有限公司
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Problems solved by technology
Of the various physiological characteristics that affect a user's stride length, leg length has the most pronounced effect on stride length, but this information is difficult to obtain from users
In addition, there are non-negligible differences in walking behavior between single steps of the same user
Method used
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Embodiment 1
[0027] In order to achieve the above technical objectives, such as figure 1 As shown, this embodiment provides a step size real-time calculation method based on indoor floor plan topology information, including:
[0028] 11. According to the MEMS-IMU data combined with the topological information of the indoor floor plan, the leg length of the user is identified with the help of particle filter, and the leg length is determined.
[0029] 12. Integrate the MEMS-IMU data to obtain the change range of the user's waist center.
[0030] 13. Substitute the obtained leg length and waist variation range into the leg fan model to obtain the user's step length data.
[0031] In implementation, in order to solve the problem of automatic identification of leg length, the method of this embodiment introduces the particle filter technology based on the topological information of the indoor floor plan, the state quantity is the leg length, and the observation quantity is the topological inf...
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This embodiment provides a real-time calculation method for the step length based on the topology information of the indoor floor plan, which belongs to the field of navigation, including according to the MEMS-IMU data combined with the topological information of the indoor floor plan, using particle filtering to identify the user's leg length and determine the leg length; for MEMS —Integrate the IMU data to obtain the change range of the user's waist center; substitute the obtained leg length and waist change range into the leg fan model to obtain the user's step length data. By using the topological information of the indoor floor plan, based on whether the position of the first right-angle turning point is an accessible area, the current user's leg length is initially screened, and the difference between the single steps of the same user is identified by using the height change of the waist center of gravity. Make full use of the topological information of the indoor floor plan to avoid manual input by users, and have a good user experience; it has the dual function of identifying behavior differences between different users and different steps of the same user; it does not need to train the model in advance, and can achieve real-time calculation of the current user's step size.
Description
technical field [0001] The invention belongs to the field of navigation, in particular to a real-time calculation method of step length based on topological information of an indoor plan view. Background technique [0002] Among many indoor positioning technologies, inertial positioning is a passive positioning method that does not depend on the environment. It uses MEMS-IMU (Micro Electro Mechanical System-Inertial Measurement Units) to collect the acceleration, angular velocity and surrounding geomagnetic information during the user's movement, and uses the inertial positioning algorithm to obtain the user's continuous motion trajectory. With the rapid development of micromechanical technology and smart phones, inertial measurement sensor modules have become the standard configuration of mobile devices (such as smart phones and tablet computers), providing hardware support for users' indoor positioning. Inertial positioning algorithms can be divided into two types: integr...
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IPC IPC(8): G01C21/20G01C21/16G06K9/62
CPCG01C21/16G01C21/206G06F18/214
Inventor 不公告发明人
Owner 金华航大北斗应用技术有限公司