A method and device for determining floor height during walking of a wearable device

Abstract

The present invention discloses a method and device for determining the floor height during walking of a wearable device. The method comprises: collecting data of an acceleration sensor and data of a geomagnetic sensor during walking, obtaining the angle between the walking direction and the geomagnetic north according to the data of the acceleration sensor and the data of the geomagnetic sensor, collecting data of an air pressure sensor when it is determined that the change of the angle between the walking direction and the geomagnetic north during walking is greater than a preset threshold, and determining the floor height during walking of the wearable device according to the data of the air pressure sensor. By combining the data collected by the low-power acceleration sensor and the geomagnetic sensor to identify whether the user has turned, the air pressure sensor is activated to realize the floor height recognition during walking, thereby improving the user experience.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of smart devices, and in particular, to a method and device for determining floor height during walking of a wearable device. Background Art

[0002] In recent years, wearable devices have become very popular. Wearable devices are portable devices that are worn directly on the body or integrated into the user's clothes or accessories. Wearable devices are not just hardware devices, but also powerful functions achieved through software support, data interaction, and cloud interaction. Wearable devices will bring great changes to our lives and perceptions.

[0003] Currently, in some wearable device applications, the wearable device can identify the current floor height, but can only realize the height of some fixed floors. When the wearable device is always in the process of walking, it cannot automatically identify. Therefore, a solution is urgently needed for a wearable device to determine the floor height while walking. Summary of the invention

[0004] The embodiments of the present invention provide a method and device for determining floor height during walking of a wearable device, which can automatically obtain real-time floor height information during walking.

[0005] In a first aspect, an embodiment of the present invention provides a method for determining floor height during walking of a wearable device, comprising:

[0006] Collect data from the acceleration sensor and the geomagnetic sensor during walking;

[0007] Obtaining the angle between the walking direction and the geomagnetic north according to the data of the acceleration sensor and the data of the geomagnetic sensor;

[0008] When it is determined that the change in the angle between the walking direction and the geomagnetic north during the walking process is greater than a preset threshold, collecting data from the air pressure sensor;

[0009] The floor height during the walking process of the wearable device is determined based on the data of the air pressure sensor.

[0010] Optionally, obtaining the angle between the walking direction and geomagnetic north based on the data of the acceleration sensor and the data of the geomagnetic sensor includes:

[0011] Determine the azimuth angle between the wearable device and the ground through the data of the acceleration sensor;

[0012] Calculate the magnetic field strength in the walking direction and the vertical direction of the wearable device by combining the azimuth between the wearable device and the ground and the data of the geomagnetic sensor;

[0013] The angle between the walking direction and the geomagnetic north is determined according to the magnetic field strength in the vertical direction of the walking.

[0014] Optionally, when determining that a change in an angle between the walking direction and the geomagnetic north during the walking process is greater than a preset threshold, collecting data from the air pressure sensor includes:

[0015] When it is determined that the angle between the walking direction and the geomagnetic north during the walking process and the angle between the walking direction and the geomagnetic north determined last time are greater than a preset threshold, the data of the air pressure sensor is collected.

[0016] Optionally, determining the floor height of the wearable device during walking according to the data of the air pressure sensor includes:

[0017] Subtract the standard air pressure from the data of the air pressure sensor to obtain the height difference;

[0018] Determine whether the difference between the height difference and the height difference determined last time is greater than a difference threshold, and if so, determine the height difference as the floor height during the walking process of the wearable device.

[0019] In a second aspect, an embodiment of the present invention provides a device for determining floor height during walking of a wearable device, comprising:

[0020] A collection unit, used to collect data from the acceleration sensor and the geomagnetic sensor during walking;

[0021] The processing unit is used to obtain the angle between the walking direction and the geomagnetic north based on the data of the acceleration sensor and the data of the geomagnetic sensor; when it is determined that the change in the angle between the walking direction and the geomagnetic north during the walking process is greater than a preset threshold, collect the data of the air pressure sensor; and determine the floor height of the wearable device during the walking process based on the data of the air pressure sensor.

[0022] Optionally, the processing unit is specifically configured to:

[0023] Determine the azimuth angle between the wearable device and the ground through the data of the acceleration sensor;

[0024] Calculate the magnetic field strength in the walking direction and the vertical direction of the wearable device by combining the azimuth between the wearable device and the ground and the data of the geomagnetic sensor;

[0025] The angle between the walking direction and the geomagnetic north is determined according to the magnetic field strength in the vertical direction of the walking.

[0026] Optionally, the processing unit is specifically configured to:

[0027] When it is determined that the angle between the walking direction and the geomagnetic north during the walking process and the angle between the walking direction and the geomagnetic north determined last time are greater than a preset threshold, the data of the air pressure sensor is collected.

[0028] Optionally, the processing unit is specifically configured to:

[0029] Subtract the standard air pressure from the data of the air pressure sensor to obtain the height difference;

[0030] Determine whether the difference between the height difference and the height difference determined last time is greater than a difference threshold, and if so, determine the height difference as the floor height during the walking process.

[0031] In a third aspect, an embodiment of the present invention further provides a computing device, including:

[0032] A memory for storing program instructions;

[0033] The processor is used to call the program instructions stored in the memory and execute the above-mentioned method for determining the floor height during the walking process of the wearable device according to the obtained program.

[0034] In a fourth aspect, an embodiment of the present invention further provides a computer-readable non-volatile storage medium, comprising computer-readable instructions. When a computer reads and executes the computer-readable instructions, the computer executes the above-mentioned method for determining floor height during walking of the wearable device.

[0035] In the embodiment of the present invention, the data of the acceleration sensor and the geomagnetic sensor are collected during walking, and the angle between the walking direction and the geomagnetic north is obtained based on the data of the acceleration sensor and the geomagnetic sensor. When it is determined that the change of the angle between the walking direction and the geomagnetic north during walking is greater than a preset threshold, the data of the air pressure sensor is collected, and the floor height during the walking of the wearable device is determined based on the data of the air pressure sensor. By combining the data collected by the low-power acceleration sensor and the geomagnetic sensor to identify whether the user has turned, the air pressure sensor is activated to realize the floor height recognition during walking, which improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0037] Figure 1 A schematic diagram of a system architecture provided for an embodiment of the present invention;

[0038] Figure 2A schematic flow chart of a method for determining floor height during walking of a wearable device provided by an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of the structure of a device for determining floor height during walking of a wearable device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] First, Figure 1 The structure shown is used as an example to introduce the wearable device applicable to the embodiment of the present invention. In the embodiment of the present invention, the wearable device 100 may include, but is not limited to, a radio frequency (RF) circuit 110, a memory 120, an input unit 130, a WiFi module 170, a display unit 140, a sensor 150, an audio circuit 160, a processor 180, and a motor 190.

[0042] Among them, those skilled in the art can understand that Figure 1 The structure of the wearable device 100 shown in the figure is only an example and not a limitation. The wearable device 100 may also include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0043] The RF circuit 110 can be used to receive and send signals during the process of sending and receiving information or making calls. In particular, after receiving the downlink information of the base station, it is processed by the processor 180; in addition, the uplink data of the wearable device 100 is sent to the base station. Generally, the RF circuit includes but is not limited to an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier (LNA, LowNoiseAmplifier), a duplexer, etc. In addition, the RF circuit 110 can also communicate with the network and other devices through wireless communication. The above wireless communication can use any communication standard or protocol, including but not limited to the Global System for Mobile communication (GlobalSystem for Mobile communication, referred to as "GSM"), General Packet Radio Service (General PacketRadio Service, referred to as "GPRS"), Code Division Multiple Access (Code Division Multiple Access, referred to as "CDMA"), Wideband Code Division Multiple Access (Wideband Code Division Multiple Access, referred to as "WCDMA"), Long Term Evolution (Long Term Evolution, referred to as "LTE"), email, Short Messaging Service (Short Messaging Service, referred to as "SMS"), etc.

[0044] The memory 120 can be used to store software programs and modules, and the processor 180 executes various functional applications and data processing of the wearable device 100 by running the software programs and modules stored in the memory 120. The memory 120 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the wearable device 100 (such as audio data, a phone book, etc.), etc. In addition, the memory 120 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0045] The input unit 130 can be used to receive input digital or character information, and to generate key signals related to user settings and function control of the wearable device 100. Specifically, the input unit 130 may include a touch panel 131, a camera 132, and other input devices 133. The camera 132 can take pictures of the images to be acquired, thereby transmitting the images to the processor 150 for processing, and finally presenting the graphics to the user through the display panel 141. The touch panel 131, also known as a touch screen, can collect the user's touch operations on or near it (such as the user's operation on the touch panel 131 or near the touch panel 131 using any suitable object or accessory such as a finger, stylus, etc.), and drive the corresponding connection device according to a pre-set program. Optionally, the touch panel 131 may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch direction, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 180, and can receive the command sent by the processor 180 and execute it. In addition, the touch panel 131 can be implemented in various types such as resistive, capacitive, infrared and surface acoustic wave. In addition to the touch panel 131 and the camera 132, the input unit 130 can also include other input devices 132. Specifically, other input devices 132 can include but are not limited to one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a joystick, etc.

[0046] Among them, the display unit 140 can be used to display information input by the user or information provided to the user and various menus of the wearable device 100. The display unit 140 may include a display panel 141. Optionally, the display panel 141 may be configured in the form of a liquid crystal display unit (LCD, Liquid Crystal Display), an organic light-emitting diode (OLED, Organic Light-Emitting Diode), etc. Further, the touch panel 131 may cover the display panel 141. When the touch panel 131 detects a touch operation on or near it, it is transmitted to the processor 180 to determine the type of touch event, and then the processor 180 provides a corresponding visual output on the display panel 141 according to the type of touch event.

[0047] Among them, the visual output external display panel 141 that can be recognized by the human eye can be used as a display device in the embodiment of the present invention to display text information or image information. Figure 1In the embodiment, the touch panel 131 and the display panel 141 are used as two independent components to implement the input and output functions of the wearable device 100. However, in some embodiments, the touch panel 131 and the display panel 141 can be integrated to implement the input and output functions of the wearable device 100.

[0048] In addition, the wearable device 100 may further include at least one sensor 150, such as a posture sensor, a distance sensor, a light sensor, and other sensors.

[0049] Specifically, the attitude sensor can also be called a motion sensor, and as one of the motion sensors, an angular velocity sensor (also called a gyroscope) can be listed. When it is configured in the wearable device 100, it is used to measure the rotational angular velocity of the wearable device 100 in motion when it deflects or tilts. Thus, the gyroscope can accurately analyze and determine the actual action of the user using the wearable device 100, and then perform corresponding operations on the wearable device 100. For example: somatosensory, shaking (shaking the wearable device 100 to achieve some functions), and inertial navigation based on the object's motion state when there is no signal from the Global Positioning System (GPS) (such as in a tunnel).

[0050] The sensor may also be a light sensor, which is mainly used to collect information such as the wavelength and intensity of various light rays to adjust the backlight intensity of the display panel 141 .

[0051] In addition, in the embodiment of the present invention, as the sensor 150, other sensors such as a barometer, a hygrometer, a thermometer and an infrared sensor may also be configured, which will not be described in detail here.

[0052] The light sensor may further include a proximity sensor, which may turn off the display panel 141 and / or the backlight when the wearable device 100 is moved to the ear.

[0053] The audio circuit 160, the speaker 161, and the microphone 162 can provide an audio interface between the user and the wearable device 100. The audio circuit 160 can transmit the electrical signal converted from the received audio data to the speaker 161, which is converted into a sound signal for output; on the other hand, the microphone 162 converts the collected sound signal into an electrical signal, which is received by the audio circuit 160 and converted into audio data, and then the audio data is output to the processor 180 for processing, and then sent to, for example, another wearable device 100 through the RF circuit 110, or the audio data is output to the memory 120 for further processing.

[0054] WiFi is a short-range wireless transmission technology. The wearable device 100 can help users send and receive emails, browse web pages, and access streaming media through the WiFi module 170. It provides users with wireless broadband Internet access. Figure 1 A WiFi module 170 is shown, but it is understandable that it is not a necessary component of the wearable device 100 and can be omitted as needed without changing the essence of the invention.

[0055] The processor 180 is the control center of the wearable device 100. It uses various interfaces and lines to connect various parts of the entire wearable device 100, and executes various functions and processes data of the wearable device 100 by running or executing software programs and / or modules stored in the memory 120, and calling data stored in the memory 120, so as to monitor the wearable device 100 as a whole. Optionally, the processor 180 may include one or more processing units; preferably, the processor 180 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications.

[0056] It is understandable that the above-mentioned modem processor may not be integrated into the processor 180.

[0057] The wearable device 100 may further include at least one motor 190. Since the wearable device 100 is a power-consuming device, the motor 190 may be a small motor. Meanwhile, a plurality of motors may be configured for the wearable device 100 according to the power that the motor can provide.

[0058] The wearable device 100 also includes a power supply (not shown) for supplying power to various components.

[0059] Preferably, the power supply can be logically connected to the processor 180 through a power management system, so that the power management system can manage charging, discharging, power consumption, etc. Although not shown, the wearable device 100 can also include a Bluetooth module, etc., which will not be repeated here.

[0060] It should be noted that the above Figure 1 The structure shown is only an example and is not limited to this embodiment of the present invention.

[0061] Figure 2 A process for determining floor height during walking of a wearable device provided by an embodiment of the present invention is exemplarily shown. The process can be executed by a device for determining floor height during walking of a wearable device. The device can be a wearable device or can be located in the wearable device.

[0062] like Figure 2 As shown in the figure, the process specifically includes:

[0063] Step 201, collecting data from the acceleration sensor and the geomagnetic sensor during walking.

[0064] In an embodiment of the present invention, the wearable device can collect data from an acceleration sensor and a geomagnetic sensor in real time, wherein the acceleration sensor can calculate the acceleration of the user's swinging arm when using the wearable device. The acceleration sensor can use a three-axis acceleration sensor. The data from the geomagnetic sensor can be used to calculate the angle of the swinging arm relative to the ground.

[0065] Step 202, obtaining the angle between the walking direction and the geomagnetic north according to the data of the acceleration sensor and the data of the geomagnetic sensor.

[0066] Specifically, the azimuth between the wearable device and the ground is first determined through the data of the acceleration sensor. Then, the walking direction of the wearable device and the magnetic field strength in the vertical direction of walking are calculated by combining the azimuth between the wearable device and the ground and the data of the geomagnetic sensor. Finally, the angle between the walking direction and the geomagnetic north is determined based on the magnetic field strength in the vertical direction of walking.

[0067] In actual application, let the angle between the plane where the wearable device is located and the ground plane be a, the intersection line between the plane where the wearable device is located and the ground plane be the travel axis, the angle between the y-axis of the plane where the wearable device is located and the travel axis be b, and the y-axis of the plane where the wearable device is located is the y-axis of the acceleration sensor.

[0068] The three-axis data of the acceleration sensor are x, y and z, and the preset weight is m, so the xy weight is mxy. The three-axis data of the geomagnetic sensor are tx, ty and tz.

[0069] From the above data, the azimuth angle can be calculated: angle a can be calculated from acos(z / m), and angle b can be calculated from asin(y / mxy).

[0070] After obtaining the azimuth angle, the geomagnetic component twalk in the vertical direction of walking can be calculated by tx*sin(a) and ty*cos(a), and the remaining component is recorded as txyrest. Then, the magnetic field strength tpara in the vertical direction of walking can be calculated by tz*cos(b)+txyrest. Based on the magnetic field strength tpara and the geomagnetic component twalk, the angle between the walking direction and the geomagnetic north can be calculated by atan(twalk / tpara).

[0071] Step 203: When it is determined that the change in the angle between the walking direction and the geomagnetic north during the walking process is greater than a preset threshold, data from the air pressure sensor is collected.

[0072] After obtaining the angle between the walking direction and the magnetic north, it is possible to continuously determine whether the change in the angle between the walking direction and the magnetic north during walking is greater than a preset threshold. The preset threshold can be set based on experience, for example, it can be set to 180°. When the change in the angle twice is greater than 180°, it indicates that the wearable device has turned.

[0073] The angle determined this time and the angle determined last time are determined based on the data periodically collected by the geomagnetic sensor. In the process of continuous judgment, after the angle between the walking direction and the geomagnetic north is calculated by the data collected in the first cycle, since there is no geomagnetic data before the first cycle, the angle calculated by the data collected in the first cycle is the starting value. The angle between the walking direction and the geomagnetic north calculated by the data collected in the second cycle will be compared with the angle calculated by the data collected in the first cycle to obtain the change. If the change exceeds 180°, it means that the wearable device has turned. At this time, the data of the air pressure sensor can be collected to calculate the current floor height. Avoid real-time collection of air pressure data during walking to reduce the power consumption of wearable devices.

[0074] Step 204: determining the floor height during the walking process of the wearable device based on the data of the air pressure sensor.

[0075] Specifically, the standard air pressure is subtracted from the data of the air pressure sensor to obtain the height difference; it is determined whether the difference between the height difference and the height difference determined last time is greater than the difference threshold, and if so, the height difference is determined as the floor height during the walking process of the wearable device.

[0076] The air pressure sensor in the wearable device can be a built-in air pressure needle instrument, which is used to detect the change in air pressure and form an air pressure layer. When the air pressure of the wearable device is relatively stable, the height difference can be calculated. It is assumed here that the ground air pressure layer is a standard atmospheric pressure. When the user carries the wearable device into a high-rise building and rises to a certain floor and enters a stationary state, the air pressure needle is enabled again to measure the current air pressure value. The height difference of the floor where the user is currently located is obtained by subtracting the height of the ground air pressure layer from the height of the current air pressure layer.

[0077] After obtaining the height difference of the current position, it can be compared with the height difference determined last time. When it is found that the difference between the two is greater than the difference threshold, it indicates that the user has ascended one floor instead of being in the middle of two floors. At this time, the height difference of the current position can be determined as the floor height of the wearable device during walking.

[0078] The above embodiment shows that the data of the acceleration sensor and the geomagnetic sensor during walking are collected, and the angle between the walking direction and the geomagnetic north is obtained based on the data of the acceleration sensor and the geomagnetic sensor. When it is determined that the change in the angle between the walking direction and the geomagnetic north during walking is greater than a preset threshold, the data of the air pressure sensor is collected, and the floor height during the walking process of the wearable device is determined based on the data of the air pressure sensor. By combining the data collected by the low-power acceleration sensor and the geomagnetic sensor to identify whether the user has turned, the air pressure sensor is activated to realize the floor height recognition during walking, which improves the user experience.

[0079] Based on the same technical concept, Figure 3 The structure of a device for determining floor height during walking of a wearable device provided by an embodiment of the present invention is exemplarily shown, and the device can execute a process for determining floor height during walking of the wearable device.

[0080] like Figure 3 As shown, the device may include:

[0081] The collection unit 301 is used to collect data from the acceleration sensor and the geomagnetic sensor during walking;

[0082] The processing unit 302 is used to obtain the angle between the walking direction and the geomagnetic north based on the data of the acceleration sensor and the data of the geomagnetic sensor; when it is determined that the change in the angle between the walking direction and the geomagnetic north during the walking process is greater than a preset threshold, collect the data of the air pressure sensor; and determine the floor height of the wearable device during the walking process based on the data of the air pressure sensor.

[0083] Optionally, the processing unit 302 is specifically configured to:

[0084] Determine the azimuth angle between the wearable device and the ground through the data of the acceleration sensor;

[0085] Calculate the magnetic field strength in the walking direction and the vertical direction of the wearable device by combining the azimuth between the wearable device and the ground and the data of the geomagnetic sensor;

[0086] The angle between the walking direction and the geomagnetic north is determined according to the magnetic field strength in the vertical direction of the walking.

[0087] Optionally, the processing unit 302 is specifically configured to:

[0088] When it is determined that the angle between the walking direction and the geomagnetic north during the walking process and the angle between the walking direction and the geomagnetic north determined last time are greater than a preset threshold, the data of the air pressure sensor is collected.

[0089] Optionally, the processing unit 302 is specifically configured to:

[0090] Subtract the standard air pressure from the data of the air pressure sensor to obtain the height difference;

[0091] Determine whether the difference between the height difference and the height difference determined last time is greater than a difference threshold, and if so, determine the height difference as the floor height during the walking process.

[0092] Based on the same technical concept, an embodiment of the present invention further provides a computing device, including:

[0093] A memory for storing program instructions;

[0094] The processor is used to call the program instructions stored in the memory and execute the above-mentioned method for determining the floor height during the walking process of the wearable device according to the obtained program.

[0095] Based on the same technical concept, an embodiment of the present invention also provides a computer-readable non-volatile storage medium, including computer-readable instructions. When a computer reads and executes the computer-readable instructions, the computer executes the above-mentioned method for determining floor height during walking of the wearable device.

[0096] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0097] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0098] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0099] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0100] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for determining floor height during walking of a wearable device, characterized in that: include: Collect data from the acceleration sensor and the geomagnetic sensor during walking; Obtaining the angle between the walking direction and the geomagnetic north according to the data of the acceleration sensor and the data of the geomagnetic sensor; When it is determined that the change in the angle between the walking direction and the geomagnetic north during the walking process is greater than a preset threshold, collecting data from the air pressure sensor; Determining the floor height of the wearable device during walking according to the data of the air pressure sensor; The step of obtaining the angle between the walking direction and the geomagnetic north based on the data of the acceleration sensor and the data of the geomagnetic sensor includes: Determine the azimuth angle between the wearable device and the ground through data from the acceleration sensor; Calculate the magnetic field strength in the walking direction and the vertical direction of the wearable device by combining the azimuth between the wearable device and the ground and the data of the geomagnetic sensor; The angle between the walking direction and the geomagnetic north is determined according to the magnetic field strength in the vertical direction of the walking.

2. The method according to claim 1, characterized in that When it is determined that the change in the angle between the walking direction and the geomagnetic north during the walking process is greater than a preset threshold, collecting data from the air pressure sensor includes: When it is determined that the angle between the walking direction and the geomagnetic north during the walking process and the angle between the walking direction and the geomagnetic north determined last time are greater than a preset threshold, the data of the air pressure sensor is collected.

3. The method according to any one of claims 1 to 2, characterized in that: The step of determining the floor height of the wearable device during walking based on the data of the air pressure sensor includes: Subtract the standard air pressure from the data of the air pressure sensor to obtain the height difference; Determine whether the difference between the height difference and the height difference determined last time is greater than a difference threshold, and if so, determine the height difference as the floor height during the walking process of the wearable device.

4. A device for determining floor height during walking of a wearable device, characterized in that: include: A collection unit, used to collect data from the acceleration sensor and the geomagnetic sensor during walking; A processing unit, configured to obtain an angle between the walking direction and the geomagnetic north according to the data of the acceleration sensor and the data of the geomagnetic sensor; when it is determined that the change in the angle between the walking direction and the geomagnetic north during the walking process is greater than a preset threshold, collect data from the air pressure sensor; and determine the floor height of the wearable device during the walking process according to the data of the air pressure sensor; The processing unit is specifically used for: Determine the azimuth angle between the wearable device and the ground through data from the acceleration sensor; Calculate the magnetic field strength in the walking direction and the vertical direction of the wearable device by combining the azimuth between the wearable device and the ground and the data of the geomagnetic sensor; The angle between the walking direction and the geomagnetic north is determined according to the magnetic field strength in the vertical direction of the walking.

5. The device according to claim 4, characterized in that The processing unit is specifically used for: When it is determined that the angle between the walking direction and the geomagnetic north during the walking process and the angle between the walking direction and the geomagnetic north determined last time are greater than a preset threshold, the data of the air pressure sensor is collected.

6. The device according to any one of claims 4 to 5, characterized in that The processing unit is specifically used for: Subtract the standard air pressure from the data of the air pressure sensor to obtain the height difference; Determine whether the difference between the height difference and the height difference determined last time is greater than a difference threshold, and if so, determine the height difference as the floor height during the walking process.

7. A computing device, characterized in that include: A memory for storing program instructions; A processor, configured to call the program instructions stored in the memory, and execute the method according to any one of claims 1 to 3 according to the obtained program.

8. A computer-readable non-volatile storage medium, characterized in that: The method comprises computer-readable instructions, and when a computer reads and executes the computer-readable instructions, the computer is caused to execute the method according to any one of claims 1 to 3.

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