Waist and foot inertia measurement unit information fusion-based zero-speed interval determination method
An inertial measurement unit and zero-speed interval technology, which is applied in the field of zero-speed time period determination and zero-speed interval determination, can solve problems such as large individual differences and large workload, and achieve a reduction in workload and accurate window length. Effect
Active Publication Date: 2019-09-24
BEIHANG UNIV
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[0004] The technical solution of the present invention is to propose a method for determining the zero-speed interval of waist and foot IMU information fusion for the existing adaptive zero-speed correction method with too much workload and too large individual differences
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[0040] The specific implementation steps of the technical solution of the present invention are as follows: figure 1 As shown, the installation diagram of the waist and foot IMU is as follows figure 2 and image 3 As shown, the specific implementation steps are as follows:
[0041] 1. Install the IMU under the shoelaces of the feet and in the middle of the back of the waist to collect acceleration and angular velocity information of pedestrians during walking or other motion states. Since the walking of pedestrians is regular, information such as position and velocity can be calculated and corrected by measuring the acceleration and angular velocity of pedestrians.
[0042] 2. Since the IMU at the waist will shake when the pedestrian is walking, the waist data is smoothed through Chebyshev filtering. If smoothing is not performed, the data collected by the waist is not a smooth sinusoidal signal, but there are many peaks and valleys in one cycle, so smoothing can be benefi...
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The invention relates to a waist and foot inertia measurement unit information fusion-based zero-speed interval determination method. According to the method, the laws of the waist and foot motions of a person are comprehensively considered; information fusion is carried out by means of the complementarity of the laws; and therefore, the zero-speed time period of the fall of the foot of the person onto the ground during a walking process can be accurately determined. Firstly, the foot has a static stage and a swinging stage in the walking process, and the demarcation point of the static stage and a swinging stage is a pulse point generated when the heel of the foot falls on the ground, and therefore, the initial position of a zero-speed interval window can be determined by identifying the pulse point of foot IMU data; the period of each step is determined through the data of the waist of the person, with half of the period taken as a window length, the position and size of a zero-speed interval section are accurately determined, and therefore, the error of inertial navigation calculation is corrected. With the method of the invention adopted, individual difference of zero-speed intervals which are judged through threshold value setting can be effectively avoided. The method can be applied to different motion states of different people.
Description
technical field [0001] The invention relates to a method for determining a zero-speed interval based on information fusion of waist and foot inertial measurement units, which is used for the zero-speed time in the algorithm of foot inertial navigation + Kalman filter + zero-speed correction (INS+KALMAN+ZUPT, IEZ) segment determination. It is especially suitable for indoor pedestrian navigation fields where wireless signals are blocked. Background technique [0002] Many navigation methods have emerged in today's technologically advanced era, but each navigation has its own limitations. Satellite navigation is more used in people's daily life, but because satellite navigation is seriously affected by signals, it is difficult to use in areas where signals are blocked, such as indoors, forests, underground squares, large shopping malls, large hospitals and other places. Therefore, how to realize autonomous navigation anywhere without relying on external information is a probl...
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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/206
Inventor 张延顺李莹月李明
Owner BEIHANG UNIV