Pedestrian navigation zero-speed interval detection method and device based on optimal interval estimation
A zero-speed interval, pedestrian navigation technology, applied in the field of inertial pedestrian navigation, can solve the problems of model applicability, high acquisition cost, etc., to achieve the effect of wide application range, small calculation amount, and simple realization
Active Publication Date: 2020-11-06
NAT UNIV OF DEFENSE TECH
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However, this method requires sufficient and representative training data, and its acquisition cost is relatively high
At the same time, due to the strong dependence of machine learning on training data, there is an overfitting phenomenon in the training process. The applicability of the model is questionable if the model trained based on the limited data set is applied to many unknown target objects. This is also one of the flaws of the zero-speed detector based on the AI method
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[0054] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0055] This application provides a pedestrian navigation zero-speed interval detection method based on optimal interval estimation, which can be applied to such as figure 1 shown in the application environment. Among them, pedestrians carry or wear MEMS-based inertial navigation sensors, which send measurement signals such as angular velocity and acceleration of corresponding parts of the pedestrian's body to the device 102 in real time, and the device 102 processes the received measurement signals to provide pedestrian navigation functions. Wherein, the device 102 may be...
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The invention relates to a pedestrian navigation zero-speed interval detection method and device based on optimal interval estimation. The method comprises the following steps: acquiring an acceleration signal of pedestrian navigation in a one-step period, constructing a relative change function of the acceleration signal relative to an acceleration value at an initial static alignment moment, acquiring a candidate zero-speed interval according to a relative change function value, and taking a central point distributed in the candidate zero-speed interval as a zero-speed reference point; and according to the distribution characteristics of the pedestrian navigation acceleration signal in the one-step period, carrying out coarse search and fine search on the candidate zero-speed interval comprising the zero-speed reference point to obtain an interval conforming to the acceleration value distribution characteristics in the zero-speed region, and obtaining a pedestrian navigation zero-speed interval detection result. According to the method, the distribution and change rule of the pedestrian navigation acceleration signals in a one-step period is utilized, zero-speed interval detection free of pedestrian motion state difference is achieved, prior information of a navigation object does not need to be obtained in advance, and the method has the advantages of being easy to achieve,small in calculated amount and wide in application range.
Description
technical field [0001] The present application relates to the technical field of inertial pedestrian navigation, in particular to a method and device for detecting a zero-speed interval of pedestrian navigation based on optimal interval estimation. Background technique [0002] Pedestrian navigation systems have extremely wide application requirements in daily life, and with the rapid development of micro-electromechanical systems (MEMS, Micro-Electro-MechanicalSystem) technology, inertial sensors are increasingly used in pedestrian navigation systems, making inertia-based Navigation technology has become the key to realize pedestrian autonomous navigation. Inertial sensors do not need to prepare the target environment in advance, and can also avoid the problem that the satellite navigation system is limited by the use scene. Therefore, it has the characteristics of wide application range, strong anti-interference ability, and autonomous navigation ability. However, there a...
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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 潘献飞陈泽穆华吴美平张书芳安郎平王莽
Owner NAT UNIV OF DEFENSE TECH