Self-adaptive step length estimation method based on pedestrian motion state

Abstract

The invention discloses a self-adaptive step length estimation method based on a pedestrian motion state. The method comprises the following steps: S1, an accelerometer arranged in the intelligent terminal collecting acceleration data and magnetometer data of pedestrians in the moving process; S2, preprocessing data; S3, dividing the period of data; S4, detecting the maximum value and the minimumvalue of the acceleration of each step of the pedestrian, and simultaneously calculating the walking frequency and the acceleration variance of each step of the pedestrian; S5, identifying the motionstate of each step of the pedestrian by the extracted features through a classifier; and S6, estimating the step length of the pedestrian by adopting a proper step length parameter according to the motion state identification result of the classifier. According to the method, a new nonlinear step length model is established to estimate the step length of the pedestrian, and the step length estimation precision is improved. Step length parameters of different motion states of the pedestrian are fitted through a least square method, and proper step length parameters are selected according to themotion state identification result of the classifier, so that the step length estimation model can adapt to different motion states of the pedestrian.

Description

technical field [0001] The invention relates to the field of indoor positioning, in particular to an adaptive step size estimation method based on the motion state of pedestrians. Background technique [0002] With the continuous progress and development of society, many indoor buildings such as large shopping malls, airports and playgrounds have appeared. Therefore, indoor positioning technology has a huge room for development. Pedestrian Dead Reckoning (PDR) algorithm is an indoor positioning technology that has received more and more attention from researchers in recent years. The step size estimation is a very critical part of the PDR technology, and the accuracy of the step size estimation will directly affect the positioning effect of the PDR technology, so it is of great research significance to improve the accuracy of the step size estimation. Moreover, the estimation of the step size also has huge room for development in other fields, such as the field of health de...

AI Technical Summary

Problems solved by technology

[0003] Existing step length estimation methods generally use a specific step length calculation formula, whose formula parameters cannot be changed after being given, and limit the pedestrian to a specific motion state when estimating the pedestrian's step length, such as normal walking

This is extremely inconsistent with the actual situation. The motion state of pedestrians should be changed at will. Therefore, when the pedestrian changes the motion state, the existing step size estimation method will have a huge estimation error and cannot adapt to the motion state of the pedestrian.

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