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Estimation method of pedestrian height and position in multi-storey building based on mems sensor

A multi-storey building and sensor technology, applied in directions such as navigation through speed/acceleration measurement, can solve the problems of poor portability of the detection system, and achieve the effect of simplifying the motion state and high detection accuracy

Active Publication Date: 2020-12-15
东北大学秦皇岛分校
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Problems solved by technology

Both of these methods use the relative motion of human joints to reduce the drift error of the IMU sensor, and the portability of the detection system becomes poor due to the increase in the number of sensors, so the research on pedestrian height position estimation technology based on a sensor node has been widely studied. focus on

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  • Estimation method of pedestrian height and position in multi-storey building based on mems sensor
  • Estimation method of pedestrian height and position in multi-storey building based on mems sensor
  • Estimation method of pedestrian height and position in multi-storey building based on mems sensor

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Experimental program
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Effect test

experiment example 1

[0077] The subject walked from the first floor to the fourth floor for about 5 minutes. The simplified experimental scene is as follows: Figure 6 shown. The heights of each floor are 4.31m, 3.46m and 3.46m respectively. The subjects' activities in this multi-storey building included walking on flat ground, going upstairs and going downstairs by elevator (in order to show that the three tests conducted were continuous). Based on the above-mentioned basic motion scene, the pedestrian height estimation method of the present invention is used to estimate the height position of the pedestrian in the multi-storey building, and the estimation result is as follows Figure 7 shown. Where 1 represents the pedestrian height position estimation based on complementary filtering and target error compensation. In order to evaluate the accuracy of the height estimation, the error between the estimated height and the actual stair height is analyzed, as shown in Table 2. The real value is t...

experiment example 2

[0084] Build an indoor walking platform, the schematic diagram of the platform model is as follows Figure 9 As shown, the following description is made according to the walking route direction of pedestrians "going up the stairs from the left and getting off the stairs from the right": the height of the first four single steps on the left is 0.12m, the last step is 0.28m, and the height of the first step on the right is 0.12m. The height of one step is 0.22m, and the height of the other three steps is 0.18m. Since the sensor device is worn on the right calf of the pedestrian and the left and right legs alternately step on the steps, the subject walks up the first step with the right foot in the first step, the second step with the left foot in the second step, and the third step with the right foot in the third step. The fourth step is to go up the fourth step with the left foot, the fifth step is to go up the highest point with the right foot, the sixth to eighth steps alter...

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Abstract

The invention discloses a method for estimating the height and position of pedestrians in a multi-storey building based on a MEMS sensor, comprising: fixing a MEMS integrated sensing device on the pedestrian's lower limbs; the MEMS integrated sensing device collects acceleration data, angular velocity data and Pedestrian height data; multi-threshold detection method is used to determine the posture phase and swing phase of pedestrian gait motion; the vertical acceleration of the posture phase and swing phase is respectively corrected, and the speed of the posture phase is updated to zero, and the The corrected vertical acceleration is quadratically integrated to obtain the estimated height of the pedestrian's attitude phase and swing phase; it is judged whether there is a deviation between the estimated height data obtained by the attitude phase and the target height data measured by the microbarometer. If it is, the error linear compensation is performed on the estimated height obtained by the swing phase, and finally the updated pedestrian positioning data is obtained. The invention realizes the accurate estimation of pedestrian's height position based on one sensor node.

Description

technical field [0001] The invention relates to a method for estimating the height and position of pedestrians in a multi-storey building based on a MEMS sensor, and belongs to the technical field of indoor navigation and positioning. Background technique [0002] With the development of Micro-Electro-Mechanical Systems (MEMS), small and low-cost sensors, such as accelerometers and gyroscopes, have been widely used in pedestrian indoor positioning and body tracking. The inertial measurement unit (IMU) sensor used to measure the three-axis attitude angle (or angular rate) and acceleration of the object, due to the inherent drift, will produce a large error when estimating the precise position, thus limiting the use of it as the core. The application of advanced MEMS sensors in pedestrian navigation and indoor pedestrian position estimation. Especially when using IMU sensors to estimate the height position of pedestrians in multi-storey buildings, it is difficult to achieve h...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
Inventor 赵玉良梁家琦沙晓鹏余嘉宁詹志坤
Owner 东北大学秦皇岛分校
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