Hardware terminal for human motion inertial navigation

Abstract

The invention provides a hardware terminal for human motion inertial navigation. The hardware terminal comprises a wearable terminal attached to a human body and used for collecting motion data, a server terminal for receiving and storing the motion data, and a display terminal for displaying motion and position information of the wearable terminal. The server terminal and the display terminal are in one-way or two-way communication association through the wearable terminal. The system comprises a wearable terminal which is attached to a human motion joint (such as an ankle) and is used for monitoring human dynamic and position information, a PCB integrated circuit board, a positioning and posture initialization recognition unit, a gait recognition unit, a wireless communication unit and a power supply unit are arranged in an outer shell of the wearable terminal, and the positioning and posture initialization recognition unit, the gait recognition unit, the wireless communication unit and the power supply unit are electrically connected to the PCB integrated circuit board. The positioning and posture initialization recognition unit and the gait recognition unit which are arranged in the wearable terminal adopt a double-module design, the IMU inertial measurement module of the positioning and posture initialization recognition unit is matched with the gait recognition unit for use, and the wearable terminal of the hardware terminal can more accurately position and collect dynamic data of human motion.

Description

Technical Field

[0001] The present invention belongs to the technical field of motion positioning and navigation, and relates to a hardware terminal for inertial navigation of human motion, and specifically to a hardware terminal product for inertial navigation of human motion that can be attached indoors or outdoors and on the human body for identifying the state of the human body. Background Art

[0002] With the increasing prevalence of smart devices and the continuous improvement of automation, the demand for high-precision positioning technology is also growing. Existing positioning technologies can be used for both humans and machines, and for both outdoor and indoor scenarios. Existing hardware terminal products for human motion navigation include smartwatches, fitness trackers, GPS trackers, and other common outdoor navigation and motion tracking devices. However, various factors often lead to positioning errors and signal loss in the specific applications of these outdoor navigation and motion tracking devices.

[0003] The main reasons for its positioning deviation include:

[0004] 1) GPS satellite signal reception capability is weak. In complex environments (such as strong electromagnetic fields, tall buildings, and forests), the signal is easily interfered with, and the positioning error can reach more than 20 meters.

[0005] 2) Environmental occlusion affects signal quality. In metal structures, indoors, tunnels, or densely populated areas, GPS signals are severely attenuated (error > 50 meters), which may cause trajectory drift or positioning failure, making it impossible to provide effective positioning.

[0006] 3) Accelerometers and gyroscopes are used for basic motion tracking, which can misjudge step count and stride length (e.g., arm shaking interference, wrist swing and human center of mass movement are not synchronized, leading to gait analysis errors (e.g., climbing stairs is misjudged as flat walking, climbing height error >30%).

[0007] 4) Optical heart rate monitoring is popular, but data drift is significant in dynamic environments (such as high-intensity exercise). During high-speed exercise (such as cycling >25km / h), the low sampling frequency (mainly 1Hz) leads to jagged tracks and distance measurement errors of up to 10%.

[0008] 5) Simple threshold-based algorithms result in limited motion pattern recognition (e.g., inability to distinguish between running and cycling). Most wristbands use linear Kalman filtering, which is difficult to handle complex motion patterns (e.g., intermittent pauses, variable-speed running), resulting in track "breakpoints" or "jumps." In a soccer shuttle run test, the turning point positioning loss rate was approximately 15%. Summary of the Invention

[0009] To address the aforementioned issues in the prior art, the present invention provides a hardware terminal for human motion inertial navigation, comprising a wearable terminal that attaches to the human body to collect motion data, a server terminal that receives and stores the motion data, and a display terminal that displays the wearable terminal's motion and position information. Through one-way or two-way communication between the wearable terminal, the server terminal, and the display terminal, the present invention effectively addresses the shortcomings of existing human motion navigation hardware terminal products identified in the background art.

[0010] Specifically, the present invention provides a hardware terminal for inertial navigation of human motion, which includes a wearable terminal that is attached to the human body's motion joints to monitor human body dynamics and position information. A PCB integrated circuit board and a positioning and posture initialization recognition unit, a gait recognition unit, a wireless communication unit and a power supply unit electrically connected to the PCB integrated circuit board are provided in the outer shell of the wearable terminal.

[0011] Furthermore, the positioning and posture initialization recognition unit includes a GPS module and an IMU inertial measurement module. The gait recognition unit includes an accelerometer, a gyroscope, a magnetometer, and a barometer. The wireless communication unit includes one or more of the following: an NB-IoT narrowband Internet of Things module, a Bluetooth communication module, a cellular mobile communication module, a LoRa module, and a Wi-Fi module. The power supply unit includes a power management chip electrically connected to a PCB integrated circuit board, a switch, a battery, and a charging element.

[0012] Furthermore, the charging element includes a wireless power receiving coil arranged inside the outer shell of the wearable terminal; or a charging socket arranged on the outer shell of the wearable terminal.

[0013] Specifically, the present invention provides a hardware terminal for inertial navigation of human motion, further comprising a server terminal. The server terminal includes a wireless communication unit compatible with the wearable terminal. The server terminal establishes an interactive communication connection with the wearable terminal via the wireless communication unit and receives and stores the user's positioning, posture, gait, motion trajectory, and location information monitored by the wearable terminal.

[0014] Furthermore, the server terminal includes a positioning navigation area consisting of an accessed online map, imported 3D building scene models, and imported 3D factory and mining scene models. The 3D building scene models and factory and mining scene models are generated by panoramic scanning or 3D modeling of physical buildings and factories and mining areas.

[0015] Furthermore, the present invention provides a hardware terminal for inertial navigation of human motion, wherein the server terminal is provided with a data storage and analysis module.

[0016] Optionally, the data storage and analysis module automatically counts the number of wearable terminals in the positioning and navigation area, and analyzes the flow and density information of wearable terminal users in the area through the number.

[0017] Optionally, the data storage and analysis module stores the historical motion data of several wearable terminals in the positioning and navigation area, and generates the motion trajectory and behavioral preference data of each wearable terminal user in the positioning and navigation area through big data analysis, and then formulates corresponding management methods or motion constraint modes for the wearable terminal users.

[0018] Optionally, the data storage and analysis module monitors the specific time when the user enters and leaves the positioning navigation area through the real-time positioning information of the wearable terminal, calculates the user's attendance coefficient and working hours based on these time data, and further analyzes the work efficiency of the wearable terminal user.

[0019] Specifically, the present invention provides a hardware terminal for inertial navigation of human motion, which also includes a display terminal. The display terminal is equipped with a wireless communication unit that matches the wearable terminal. The display terminal establishes a communication connection with a server terminal through the wireless communication unit or a data cable and displays the gait, motion, trajectory and location information of the wearable terminal user received and stored by the server terminal.

[0020] Furthermore, the display terminal includes a fixed display screen and / or a mobile display, and the fixed display screen and the mobile display display the gait, movement trajectory and location information of the wearable terminal user in the navigation area.

[0021] Specifically, the present invention provides a hardware terminal for inertial navigation of human motion, including a beacon body positioned within a navigation area and a beacon identification unit comprised of a Bluetooth SOC chip within a wearable terminal. The Bluetooth SOC chip is electrically connected to the wearable terminal's PCB integrated circuit board, and the wearable terminal and the beacon body communicate in a one-way manner via Bluetooth signals. The wearable terminal transmits the beacon body's location information to a server via a wireless communication unit to further determine the wearable terminal's location information.

[0022] Specifically, the present invention provides a hardware terminal for inertial navigation of human motion, further comprising an electronic tag unit comprising a coupling element and an RFID chip disposed within the wearable terminal, and a reader disposed within a navigation area. The coupling element and the RFID chip are electrically connected to the wearable terminal's PCB integrated circuit board. The coupling element enables spatial coupling of radio frequency signals between the wearable terminal and the reader disposed within a map scene, thereby enabling data transmission and exchange.

[0023] Specifically, the present invention provides a hardware terminal for inertial navigation of human motion, further comprising a warning unit consisting of a buzzer, an alarm light, a vibration motor, a marquee, or a combination of two or more thereof, which is arranged on the wearable terminal and electrically connected to the PCB integrated circuit board.

[0024] Specifically, the present invention provides a hardware terminal for inertial navigation of human motion, further comprising a distress unit consisting of a call button or a speaker, or a combination of the two, which are arranged on the wearable terminal and electrically connected to the PCB integrated circuit board.

[0025] Specifically, the present invention provides a hardware terminal for inertial navigation of human motion, further comprising a health monitoring unit consisting of a PPG sensor element and an ECG sensor element arranged on the wearable terminal and electrically connected to a PCB integrated circuit board.

[0026] The beneficial effects of the present invention are:

[0027] 1. The wearable terminal of the hardware terminal adopts a dual-module design, which is equipped with a positioning and posture initialization recognition unit and a gait recognition unit. The positioning and posture initialization recognition unit IMU inertial measurement module and the gait recognition unit include an acceleration sensor, a gyroscope, a magnetometer and a barometer, which work together to make the wearable terminal of the hardware terminal of the present invention more accurate in positioning and collecting dynamic data of human motion.

[0028] 2. The internal system of the server terminal is not only connected to the online map, but also imports 3D scene models of buildings and factory mining areas drawn in proportion to physical buildings and physical factory mining areas, so that the hardware terminal can also have navigation and positioning functions in areas of buildings and factory mining areas that are not covered by the online map.

[0029] 3. The wearable terminal has the function of spatial XYZ three-axis positioning. The GPS module and IMU inertial measurement module of the wearable terminal are used for XY axis positioning of the wearable terminal, and the barometer of the wearable terminal is used for Z axis positioning of the wearable terminal. The server terminal can calculate the height of the wearable terminal and the floor of the building where the human body is located by monitoring the value of the barometer.

[0030] 4. Under the action of the positioning and posture initialization recognition unit and gait recognition unit sensor elements installed in the wearable terminal at the human body's motion joints (such as ankles), the wearable terminal can effectively identify and distinguish various motion states of the human body, such as running, jumping, climbing, and riding.

[0031] The beneficial effects of the present invention are not limited to this description. For better understanding, a more detailed description is given in the specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 This is a logical connection diagram of a hardware terminal for inertial navigation of human motion, including a wearable terminal, a server terminal, and a display terminal.

[0034] Figure 2 This is a schematic diagram of a three-dimensional decomposition of a wearable terminal of a hardware terminal for inertial navigation of human motion according to the present invention (I).

[0035] Figure 3 This is a three-dimensional decomposition schematic diagram of a wearable terminal of a hardware terminal for inertial navigation of human motion according to the present invention (II).

[0036] Figure 4 This is a three-dimensional decomposition schematic diagram of a wearable terminal of a hardware terminal for inertial navigation of human motion according to the present invention (III).

[0037] Figure 5 This is a schematic diagram (four) of a three-dimensional decomposition of a wearable terminal of a hardware terminal for inertial navigation of human motion according to the present invention. DETAILED DESCRIPTION

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0040] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0041] Figure 1 As shown, the present invention provides a hardware terminal for inertial navigation of human motion, which includes a wearable terminal A, a server terminal B and a display terminal C.

[0042] Wearable terminal;

[0043] The hardware device is attached to the human body's moving joints to monitor and obtain human body dynamics in real time. The best solution is to attach it near the human elbow, knee, and ankle joints and move with the swing of the human limbs. The various sensor modules installed in it monitor and obtain human body dynamics in real time and upload the obtained human body dynamic information to the server terminal.

[0044] refer to Figure 2 As shown, the outer shell 1 of the wearable terminal A is provided with a PCB integrated circuit board 2 and a positioning and posture initialization recognition unit 3, a gait recognition unit 4, a wireless communication unit 5, and a power supply unit 6 electrically connected to the PCB integrated circuit board 2. The outer shell 1 is composed of an upper shell 1a and a lower shell 1b.

[0045] Specific Figure 3 As shown, the positioning and posture initialization recognition unit 3 is used for the initial positioning and initial posture recognition of the wearable terminal after it is attached to the human body and turned on. It includes a GPS module 3a and an IMU inertial measurement module 3b arranged on a PCB integrated circuit board 2.

[0046] The hardware terminal receives satellite signals through the GPS module 3a provided in the wearable terminal and reads the GPS data of the wearable terminal through the map loading module of the server terminal, thereby accurately locating the location of the wearable terminal and simultaneously monitoring and tracking the location of the wearable terminal user in real time. Furthermore, the GPS module can use a low-power satellite chip with integrated GNSS dual-frequency positioning (such as L1+L5 bands).

[0047] Human body posture initialization is performed through the IMU inertial measurement module 3b device. Figure 3 As shown, the IMU inertial measurement module 3b is a six-axis multi-sensor fusion, which includes an integrated three-axis gyroscope 3b1 and a three-axis accelerometer 3b2. After the IMU is stationary for a period of time, the system can measure the acceleration and angular velocity information of the wearable terminal A by analyzing the data of the accelerometer 3b2 and the gyroscope 3b1 to determine the absolute orientation of the wearable terminal A, calculate and identify the relative posture of the wearable terminal A and the human body's motion joints (such as ankles). The server terminal calculates the human body's motion posture based on the posture of the wearable terminal A (reference Figure 1 It provides precise position and motion information for subsequent positioning or trajectory analysis.

[0048] Specific Figure 3 As shown, the gait recognition unit 4 is used by the wearable terminal A to identify the stride frequency, stride distance, movement direction, and height change of human movement. It includes an acceleration sensor 4a, a gyroscope 4b, a magnetometer 4c, and a barometer 4d, which are separately arranged on the PCB integrated circuit board 2 and independent of the IMU inertial measurement module 1b.

[0049] The acceleration sensor 4a collects acceleration data from the repetitive movements of a person's steps during walking. The system uses the acceleration sensor 4a to collect acceleration data during walking and performs spectrum analysis on this data to identify periodic peaks in the acceleration signal. Each peak corresponds to the completion of a step, and the time interval between peaks reflects the speed of the step. By analyzing the frequency of the peaks, the system can accurately determine the frequency of the gait. The system estimates the length of the gait based on the preset individual's height, and then calculates the walking speed of the person by adding the gait frequency and gait length.

[0050] The gyroscope 4b identifies the relative angular velocity of human motion, while the magnetometer 4c provides reference information about the absolute direction of human motion. The system uses a Kalman filter algorithm to fuse these two data sets. Kalman filtering effectively filters out noise during dynamic changes, estimating the absolute angle and direction of the wearable terminal A, thereby accurately identifying the direction of the human body under different motion conditions.

[0051] The magnetometer 4c performs navigation and positioning functions by detecting the strength and direction of the magnetic field. It uses the principles of anisotropic magnetoresistance, the Hall effect, or the Lorentz force to sense the magnetic induction intensity through changes in the electromagnetic field to calculate the direction and azimuth of the wearable terminal at a human joint (such as the ankle). The server terminal uses the direction and azimuth of the wearable terminal A to calculate the orientation and angle of the wearable terminal user's body, whether in motion or at rest.

[0052] The barometer 4d is used to provide information about the relative height of a person's movements. The system first obtains reference sea level pressure data as a reference point. Then, combined with the current barometer reading of the barometer 4d and applying a physical model of atmospheric pressure and altitude (such as the International Standard Atmospheric Model), the height of the wearable terminal A relative to sea level can be accurately calculated, further providing real-time monitoring of changes in the person's altitude data.

[0053] refer to Figure 2 Figure 3 As shown, a hardware terminal for inertial navigation of human motion is invented, which completes positioning and navigation in three-dimensional space within roads, buildings, factories and mining areas through the GPS module 3a of the positioning and posture initialization recognition unit 3 of the wearable terminal A and the barometer 4b of the gait recognition unit 4. The GPS module 3a is used for XY axis coordinate positioning, and the barometer 4b is used for Z axis coordinate positioning.

[0054] Specific Figure 1 Figure 2 As shown, the wireless communication unit 5 is used for data communication among the wearable terminal A, the server terminal B and the display terminal C. Figure 3As shown, it includes one or two or more modules including NB-IoT narrowband Internet of Things module 5a, Bluetooth communication module 5b, cellular mobile communication module 5c, Lora module 5d, and Wi-Fi module 5e.

[0055] refer to Figure 1 Figure 3 As shown, the wearable terminal A and the server terminal B, and the server terminal B and the display terminal C establish data communication connections through the NB-IoT narrowband Internet of Things module 5a, the cellular mobile communication module 5c, the Lora module 5d, and the Wi-Fi module 5e. The wearable terminal A establishes data communication connections with other hardware facilities through the Bluetooth communication module 5b.

[0056] Specific Figure 2 As shown, the power supply unit 6 is used to supply the power required by the wearable terminal A in the standby or working state. Figure 4 Figure 5 As shown, the power supply unit 6 includes a power management chip 6a electrically connected to the PCB integrated circuit board 2, a switch key 6b, a battery 6c and a charging element.

[0057] Further Figure 2 As shown, the charging element includes a wireless power receiving coil 61 arranged inside the upper shell 1a of the wearable terminal.

[0058] Further Figure 4 As shown, the charging component 6d includes a charging socket 62 provided on the upper housing 1a of the wearable terminal.

[0059] Server terminal;

[0060] Specific reference Figure 1 Figure 2 As shown, the server terminal B is provided with a wireless communication unit 4 that matches the wearable terminal A. The server terminal B and the wearable terminal A establish an interactive communication connection through the wireless communication unit 4 and receive and store the user's positioning, posture, gait, movement trajectory and position information monitored by the wearable terminal A.

[0061] refer to Figure 1 Figure 3 The server terminal B shown is responsible for receiving data from multiple wearable terminals A and display terminals C. Each wearable terminal A establishes a communication connection with the server terminal B via NB-IoT 5a, cellular mobile communication 5c Lora, module 5d, or Wi-Fi module 5e, and uploads real-time sensor data of human motion information (including acceleration, direction, position, etc.) to the server terminal B via an encrypted Internet connection. The server terminal B seamlessly accesses the mainstream online map positioning and navigation area.

[0062] refer to Figure 1 As shown, the positioning and navigation area within server terminal B consists of an accessed online map, imported 3D building scene models, and imported 3D factory and mining scene models. These 3D building and factory mining scene models are generated by panoramic scanning of physical buildings and factory mining areas, or by 3D modeling and importing them into server terminal B. Server terminal B can simultaneously process data streams from multiple wearable terminals A, ensuring real-time data reception and processing even under high loads. This supports concurrent positioning of multiple wearable terminals A in scenarios such as roads, commercial areas, and factory and mining areas.

[0063] The online map platform is used to provide precise geographic reference coordinates and real-time navigation data. During the operation of the positioning system, the server obtains the geographic information of the scene from the map service and combines it with the user's real-time location to generate a personalized navigation path. This function allows users to easily navigate in complex ship, building or industrial environments, helping managers and operators to move efficiently in a wide range of working scenarios.

[0064] 3D model scenes of buildings and factories and mining areas are particularly suitable for multi-level, multi-functional ships or large-scale industrial scenarios. By integrating with the 3D model, the server can present a 3D visualization on a map display terminal, showing the multi-level building structure and the real-time distribution of personnel within it. This 3D modeling technology provides managers with a clearer global perspective, facilitating real-time monitoring of personnel work status and movement trajectory, and is particularly suitable for emergency management and dispatch in complex scenarios.

[0065] Further,

[0066] In the hardware terminal for human motion inertial navigation described in the present invention, a data storage and analysis module is provided in the server terminal. Specifically, the data storage and analysis module has the following multiple implementation methods in the specific application of the hardware terminal for human motion inertial navigation.

[0067] Embodiment 1;

[0068] The data storage and analysis module automatically counts the number of wearable devices in the positioning and navigation area and analyzes the flow and density of wearable device users within the area. This recorded flow and density information allows managers to control the flow of people in the area in real time via the server. Security personnel can also use this information to strengthen real-time patrols of specific control areas.

[0069] Embodiment 2;

[0070] The data storage and analysis module stores the historical motion data of several wearable terminals through the service terminal, and generates the motion trajectory and behavioral preference data of each wearable terminal user through big data analysis. The management personnel formulate corresponding management methods or motion constraint modes for the wearable terminal users based on the motion trajectory and behavioral preference data of the wearable terminal users in the positioning and navigation area recorded by the system.

[0071] Embodiment 3;

[0072] The data storage and analysis module uses real-time location information from wearable devices to monitor the specific times users enter and exit the navigation area. Based on this time data, the system calculates the user's attendance coefficient and work hours, further analyzing their work efficiency. Managers can use this information, such as attendance coefficient and work hours, recorded by the server to adjust user salaries and provide additional incentives.

[0073] Display terminal;

[0074] Specific Figure 1 As shown, the display terminal C is used to display the gait, movement trajectory and location information of the wearable terminal A user received and stored by the server terminal B. Figure 2 As shown, the display terminal C is provided with a wireless communication unit 4 matching the wearable terminal A.

[0075] Figure 1 As shown, display terminal C establishes a communication connection with server terminal B via wireless communication unit 4 or a data cable, and displays in real time information such as the gait, movement trajectory, and location of the user of wearable terminal A within the positioning navigation area. Display terminal C can synchronize data with wearable terminal A via server terminal B, displaying the current body position information of the user of wearable terminal A in real time. The location of each user is displayed as an icon within the positioning navigation area, allowing managers to clearly view their distribution throughout the workplace. This function is particularly important in complex scenarios such as ships and construction sites, helping managers quickly identify personnel in key locations and make appropriate dispatch decisions.

[0076] like Figure 1 As shown, the display terminal C is a fixed display screen C1 or a mobile display screen C2. Preferably, the display terminal includes a fixed display screen C1 and a mobile display screen C2.

[0077] refer to Figure 1As shown, the fixed display screen C1 is generally a large display screen fixed to an indoor wall, but can also be a computer screen on a desktop. The fixed display screen C1 is connected to the server terminal B and the wearable terminal A via wireless communication technology or a data cable for data synchronization. The location and trajectory of each wearable terminal A user are displayed as icons in the positioning navigation area, and the current location and trajectory information of the wearable terminal A user in the positioning navigation area is displayed in real time.

[0078] refer to Figure 1 As shown, the mobile display C2 is typically a mobile phone or tablet computer, but can also be a portable handheld display with human-computer interaction capabilities. The mobile display C2 connects to the server terminal B and wearable terminal A via wireless communication technology to synchronize data and display the current location and trajectory information of the wearable terminal A user within the positioning and navigation area in real time. The location and trajectory of each wearable terminal A user are displayed as icons within the positioning and navigation area.

[0079] Further Figure 1 As shown, when the display terminal C includes a fixed display screen C1 and a mobile display screen C2, the fixed display screen C1 and the mobile display screen C2 are simultaneously connected to the server terminal B and the wearable terminal A through wireless communication technology or a data cable for data synchronization. The fixed display screen C1 and the mobile display screen C2 simultaneously display the current location and trajectory information of the user of the wearable terminal A in the positioning and navigation area in real time.

[0080] refer to Figure 1 As shown, in a hardware terminal for inertial navigation of human motion according to the present invention, the mobile display C2 and wearable terminal A are simultaneously carried and used by the same user. The user of wearable terminal A can display their specific location and motion trajectory in the positioning and navigation area through the mobile display C2. The fixed display C1 independently displays the location and motion trajectory of wearable terminal A in the positioning and navigation area in the positioning and navigation system. Alternatively, the fixed display C1 simultaneously displays the location and motion trajectory of wearable terminal A and mobile display C2 in the positioning and navigation area in the positioning and navigation system.

[0081] refer to Figure 1As shown, in the hardware terminal for inertial navigation of human motion of the present invention, the wearable terminal A is carried by the user, and the mobile display C2 is carried by security personnel and management personnel respectively. The security personnel and management personnel can display the specific position and motion trajectory of the user of the wearable terminal A in the positioning and navigation area through the mobile display C2. The fixed display screen C1 in the positioning and navigation system either displays the positioning and motion trajectory of the wearable terminal A alone, or displays the positioning and motion trajectory of the wearable terminal A and the mobile display C2 at the same time. This embodiment is used in the case where an adult brings a minor into a public place to locate and track the motion trajectory in the positioning and navigation area. The mobile display C2 is carried by an adult (management personnel), and the wearable terminal A is attached to the motion joints (such as ankles) of the minor's (user). The adult (management personnel) monitors the positioning and motion trajectory information of the minor (user) at any time through the mobile display C2 in a public place with a large flow of people.

[0082] refer to Figure 1 As shown, in a hardware terminal for inertial navigation of human motion of the present invention, the one or more mobile displays C2 can simultaneously display the specific positions and motion trajectories of several wearable terminal A users (staff) in the positioning and navigation area. This embodiment is applied to the positioning and motion trajectory tracking of several wearable terminal A users (staff) in a large factory mining area in a real scene of the workplace. The mobile display C2 is carried by management personnel or security personnel in the factory area, and several wearable terminals A are attached to the human motion joints (such as ankles) of the corresponding users. Security personnel or management personnel monitor the positioning and motion trajectory information of staff at any time in the large factory mining area through the mobile display C2 or the fixed display screen C1.

[0083] In order to make the hardware terminal for inertial navigation of human motion of the present invention have wider compatibility and improve its further accuracy in positioning and trajectory recognition of the human body during motion.

[0084] like Figure 1 Figure 3 As shown, the hardware terminal also includes a beacon identification unit, which includes a Bluetooth SOC chip 7b ( Figure 3 shown) and the beacon body ( Figure 1 As shown, a Bluetooth SOC chip 7b is installed in the wearable terminal A and is electrically connected to the PCB integrated circuit board 2. The beacon body is set in the positioning and navigation area. The Bluetooth SOC chip 7b installed in the wearable terminal A communicates with the beacon bodies in the map scene, building scene, and factory and mining scene in a one-way manner via the Bluetooth communication module 5b.

[0085] like Figure 1As shown, the administrator of hardware terminal A deploys a beacon within the positioning and navigation area according to the system's recommended location. The deployed beacon establishes a wireless connection with wearable terminal A via wireless broadcast technology (Bluetooth). Server terminal B merges the beacon's location data with the positioning data of wearable terminal A. Wearable terminal A then acquires the location information provided by the beacon via Bluetooth communication. This beacon's location information provides high-precision positioning data within server terminal B's positioning and navigation area. Wearable terminal A transmits the beacon's location information to server terminal B via wireless communication technology to further determine the location of the wearable terminal A user.

[0086] In order to expand the business management function of the hardware terminal for inertial navigation of human motion of the present invention, so that the wearable terminal has the function of identifying and managing user identity information, the hardware terminal also includes an electronic tag.

[0087] refer to Figure 1 Figure 3 As shown, the electronic tag includes ( Figure 3 shown) coupling element 8b, RFID chip 8c and ( Figure 1 A reader (shown in Figure 2) is provided in wearable terminal A. A coupling element 8b and an RFID chip 8c are installed in wearable terminal A and are electrically connected to the PCB integrated circuit board 2. The reader is located within the positioning and navigation area. Server terminal 2 is equipped with an operation program. When the user of wearable terminal A enters the reader's location within a map, building, or factory / mining area, the coupling element 8b in wearable terminal A establishes a data connection with the reader. The reader reads the data from wearable terminal A's RFID chip 8c. The system then identifies and authenticates the data from the RFID chip 8c, sending identification information to server terminal B, which then authenticates the data.

[0088] refer to Figure 1 Figure 3As shown, the electronic tag on the hardware terminal is primarily used to authenticate and identify the specific identity of the user of wearable terminal A entering a large factory or mining area. Wearable terminal A is equipped with an internal RFID tag chip 8c, which stores the user's identification information. A computational program within server terminal B records the identity information of all RFID tag chips 8c permitted to enter the factory area. When the user of wearable terminal A enters the factory area, a reader reads the identification information of the user's RFID tag chip 8c and uploads it to server terminal B. Factory administrators can then perform a one-to-one match between all RFID tag chip 8c information recorded by server terminal B and the user's identity information. This process enables the system to accurately associate wearable terminal A with the user, enabling identification and location tracking of each wearable terminal A user. Factory administrators can use server terminal B to manage and query the binding status of RFID tag chips 8c with wearable terminal A users, ensuring that wearable terminal A accurately reflects the user's real-time location during positioning and monitoring. This approach improves positioning accuracy and management efficiency for wearable terminal A users.

[0089] The hardware terminal for inertial navigation of human motion described in the present invention, wherein the wearable terminal also includes a warning unit composed of one or a combination of a buzzer, an alarm light, a vibration motor, a marquee, or two or more thereof.

[0090] refer to Figure 2 Figure 3 As shown, the buzzer 9a, alarm light 9b, vibration motor 9c, and ticker 9d are provided on the wearable terminal A and are electrically connected to the PCB integrated circuit board 2. When the program provided in the server terminal B determines that the user of the wearable terminal A is in a dangerous state, the server terminal B drives the buzzer 9a provided in the wearable terminal A to beep, or drives the alarm light 9b provided in the wearable terminal A to flash, or drives the vibration motor 9c provided in the wearable terminal A to vibrate, or drives the ticker 9d provided in the wearable terminal A to flash.

[0091] Warning unit working example 1 (reference Figure 1 shown);

[0092] The server terminal defines danger zones or geo-fences within the positioning and navigation area and, through the wearable terminal's warning unit, issues real-time alerts to wearable terminal users who enter these zones. When the server terminal's system detects a wearable terminal approaching or entering a danger zone or geo-fence, the system sends a warning signal through the server terminal to the wearable terminal or display terminal (fixed or mobile display). The wearable terminal user receives the warning signal on the wearable terminal or display terminal (fixed or mobile display) to leave the danger zone. Management and security personnel, upon receiving the warning signal, monitor or urge the wearable terminal user to leave the danger zone or geo-fence via the display terminal (fixed or mobile display). This feature is suitable for scenarios such as shipbuilding, construction sites, and warehouses. By pre-defining danger zones (such as high-voltage areas, hazardous work areas, and heavy construction sites), the server terminal can monitor whether anyone enters these areas and issue notifications or alerts to relevant personnel and management via the terminal device. This feature significantly improves the efficiency of personnel safety management and reduces the occurrence of safety incidents.

[0093] Warning unit working example 2 (reference Figure 1 shown);

[0094] When the server terminal system detects that the wearable terminal user's human motion gait, heading, posture and altitude data have not been updated for a long time, or the server terminal system monitors the wearable terminal user's motion in a specific area within the positioning navigation scene in real time through positioning data, and the duration exceeds the system's preset time safety limit threshold. The server terminal sends a warning signal to the wearable terminal and the display terminal (fixed display or mobile display). The wearable terminal user receives the warning signal through the wearable terminal and adjusts the motion posture or stops the motion. After receiving the warning signal, the management and security personnel supervise or urge the wearable terminal user to adjust the motion posture or stop the motion through the fixed display or mobile display.

[0095] Warning unit working example three (reference Figure 1 shown);

[0096] The server terminal system records and stores the gait, motion posture, and motion trajectory data of the wearable terminal user under normal conditions. When the real-time motion data of the human body received by the server terminal is inconsistent with the gait, motion posture, and motion trajectory data of the wearable terminal user under normal conditions recorded and stored by the server terminal system, the server terminal sends a warning signal to the wearable terminal or a display terminal (fixed display or mobile display). The wearable terminal user adjusts his or her motion posture or stops exercising after receiving the warning signal through the wearable terminal. After receiving the warning signal, the management personnel and security personnel supervise or urge the wearable terminal user to adjust his or her motion posture or stop exercising through the display terminal (fixed display or mobile display).

[0097] Warning unit working example 4 (reference Figure 1 shown);

[0098] When the server terminal system detects that the data information of the electronic tag in the wearable terminal sent by the reading device installed in the map real scene, the building real scene and the factory and mining area real scene is inconsistent with the data information stored in the system. Or when the server terminal system uses the positioning data to monitor in real time that the movement time of the wearable terminal user in the specific area of ​​the map real scene, the building real scene and the factory and mining area real scene exceeds the time safety limit threshold preset by the system. The server terminal sends a warning signal to the wearable terminal or the display terminal (fixed display or mobile display). The wearable terminal user is prompted by the warning signal of the wearable terminal or the display terminal (fixed display or mobile display) to leave the area where the reading device is set or the specific area in the navigation real scene or to stop moving. After receiving the warning signal, the management personnel and security personnel supervise or urge the wearable terminal user to leave the area where the reading device is set or the specific area in the navigation real scene or to stop moving through the display terminal (fixed display or mobile display).

[0099] In the above specific embodiments 1 to 4 of the hardware terminal for inertial navigation of human motion of the present invention, the warning unit is further (reference Figure 1 The location and trajectory information of the wearable terminal user, as well as that of the management and security personnel carrying mobile displays, are displayed on the fixed display terminal. After receiving the warning signal, the management and security personnel can use the wearable terminal user's location information displayed on the mobile display or fixed display to check the wearable terminal user's specific status on site.

[0100] The hardware terminal for inertial navigation of human motion described in the present invention is referred to Figure 3 Figure 4 Figure 5 As shown, the wearable terminal A further includes a call button 9e, a speaker 9f, or a combination of the two to form a distress unit. The call button 9e and the speaker 9f are electrically connected to the PCB integrated circuit board 2.

[0101] refer to Figure 1 As shown, when the wearable terminal user is in the scenario described in the first to fourth specific embodiments of the warning unit, the user can use the call button on the wearable terminal to send a distress signal to the management and security personnel. The management and security personnel receive the distress signal using a portable display and rush to the scene to rescue the wearable terminal user. During the rescue, the management and security personnel can communicate with the wearable terminal user through the speaker provided on the wearable terminal.

[0102] refer to Figure 1As shown, when the wearable terminal user is in the scenario of the above-mentioned specific embodiments 1 to 4 of the warning unit, the server terminal can send a voice distress signal through the speaker of the wearable terminal to request others to rescue the wearable terminal user.

[0103] The hardware terminal for inertial navigation of human motion described in the present invention is as follows: Figure 4 As shown, the wearable terminal A further comprises a health monitoring unit composed of a PPG sensor element 10a and an ECG sensor element 10b, and the PPG sensor element 10a and the ECG sensor element 10b are electrically connected to the PCB integrated circuit board 2. Figure 5 The lower shell 1b of the wearable terminal A is provided with a transparent hole 1ba, and the PPG sensor element 10a ( Figure 4 The PPG sensor 10aa at the front end (as shown) passes through the transparent hole 1ba provided on the lower shell 1b and comes into contact with the skin of the human body's motion joints (such as ankles).

[0104] refer to Figure 4 Figure 5 As shown, wearable terminal sticker A is attached to a joint. PPG sensor element 10a (10aa) emits red and green light, which passes through the skin of the leg and is absorbed by the blood and tissues before being reflected outward. The sensor detects the differences in the intensity of the reflected light after absorption by the blood and tissues. These light is converted into different electrical signals. The PPG sensor algorithm analyzes these signals to derive corresponding heart rate information, which then tracks changes in vascular volume during the cardiac cycle. The heart rate is then calculated from the resulting pulse waveform. The server terminal transmits the heart rate information calculated by the PPG sensor to the display terminal for external display.

[0105] Wearable terminals are attached to moving joints (such as the ankle). ECG sensors, by contacting the skin, measure and record the heart's electrical activity, providing information about heart function and health. ECG sensors typically consist of multiple electrodes that are attached to the legs via wearable terminals. When the heart beats, the electrodes detect the weak electrical current generated by the heart and convert it into a voltage signal. These signals are then recorded by the sensor and connected to a server terminal for analysis and display on a display terminal.

[0106] The hardware terminal for inertial navigation of human motion described in the present invention can fully understand the heart health status of the wearable terminal user through the PPG sensor and ECG sensor set in the wearable terminal, timely detect potential heart problems, and take appropriate measures to protect heart health.

[0107] The above is a detailed introduction to a hardware terminal for inertial navigation of human motion provided by an embodiment of the present invention. Those skilled in the art will appreciate that variations in the specific implementation and scope of application may occur based on the concepts of the embodiments of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention, and any changes made based on the design concepts of the present invention are within the scope of protection of the present invention.

Claims

1. A hardware terminal for inertial navigation of human motion, characterized in that: Including wearable terminals that fit on the joints of the human body to monitor human body dynamics and position information; The wearable terminal housing is provided with a PCB integrated circuit board and a circuit board electrically connected to the PCB integrated circuit board; A positioning and attitude initialization recognition unit consisting of a GPS module and an IMU inertial measurement module; A gait recognition unit comprising an accelerometer, a gyroscope, a magnetometer, and a barometer; A wireless communication unit consisting of one or more modules including NB-IoT narrowband Internet of Things module, Bluetooth communication module, cellular mobile communication module, Lora module, and Wi-Fi module; The power supply unit includes a power management chip electrically connected to a PCB integrated circuit board, a switch key, a battery and a charging element.

2. The hardware terminal for inertial navigation of human motion according to claim 1, characterized in that: The hardware terminal also includes a server terminal, which is provided with a wireless communication unit that matches the wearable terminal; The server terminal establishes an interactive communication connection with the wearable terminal through the wireless communication unit and receives and stores the positioning, posture, gait, movement trajectory and position information of the user monitored by the wearable terminal; The server terminal is equipped with a positioning navigation area consisting of an online map, imported 3D scene models of buildings, and 3D scene models of factories and mining areas; The 3D scene models of buildings and factories and mines are produced by panoramic scanning of physical buildings and physical factories and mines or by 3D modeling and drawing.

3. The hardware terminal for inertial navigation of human motion according to claim 2, wherein the server terminal is provided with a data storage and analysis module; The data storage and analysis module automatically counts the number of wearable terminals in the positioning and navigation area, and analyzes the flow and density information of wearable terminal users in the area through the number; or The data storage and analysis module stores the historical motion data of several wearable terminals, generates the motion trajectory and behavior preference data of each wearable terminal user through big data analysis, and then formulates corresponding management methods or motion constraint modes for the wearable terminal users; or The data storage and analysis module monitors the specific time when the user enters and leaves the positioning navigation area through the real-time positioning information of the wearable terminal, and calculates the user's attendance coefficient and working hours based on these time data. Further analyze the work efficiency of wearable terminal users.

4. The hardware terminal for inertial navigation of human motion according to claim 1, characterized in that: The hardware terminal also includes a display terminal, which is provided with a wireless communication unit that matches the wearable terminal; The display terminal establishes a communication connection with the server terminal through a wireless communication unit or a data line and displays the gait, movement, trajectory and position information of the wearable terminal user received and stored by the server terminal.

5. The hardware terminal for inertial navigation of human motion according to claim 4, characterized in that: The display terminal includes a fixed display screen and / or a mobile display; Both the fixed display and the mobile display show the gait, movement trajectory and location information of the wearable terminal user within the navigation area.

6. The hardware terminal for inertial navigation of human motion according to claim 1, characterized in that: The hardware terminal also includes a beacon identification unit composed of a beacon body set in the navigation area and a Bluetooth SOC chip in the wearable terminal; The Bluetooth SOC chip is electrically connected to the PCB integrated circuit board of the wearable terminal, and the wearable terminal and the beacon body communicate one-way via Bluetooth signals; The wearable terminal sends the location information of the beacon body to the server terminal through the wireless communication unit to further determine the real-time location information of the wearable terminal.

7. The hardware terminal for inertial navigation of human motion according to claim 1, characterized in that: The hardware terminal further includes an electronic tag unit composed of a coupling element arranged in the wearable terminal, an RFID chip, and a reading device arranged in the navigation area; The coupling element and the RFID chip are electrically connected to the PCB integrated circuit board of the wearable terminal. The coupling element is used to realize spatial coupling of radio frequency signals between the wearable terminal and the reading device set in the navigation area, thereby completing data transmission and data exchange.

8. The hardware terminal for inertial navigation of human motion according to claim 1, characterized in that: The hardware terminal also includes a warning unit composed of one or a combination of two or more of a buzzer, an alarm light, a vibration motor, and a marquee, which is arranged on the wearable terminal and electrically connected to the PCB integrated circuit board.

9. The hardware terminal for inertial navigation of human motion according to claim 1, characterized in that: The hardware terminal also includes a call unit consisting of a call button or a loudspeaker, or a combination of the two, which is arranged on the wearable terminal and electrically connected to the PCB integrated circuit board.

10. The hardware terminal for inertial navigation of human motion according to claim 1, characterized in that: The hardware terminal also includes a health monitoring unit composed of a PPG sensor element and an ECG sensor element arranged on the wearable terminal and electrically connected to the PCB integrated circuit board.

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