Method, apparatus, device and program product for measuring speed

Abstract

The present disclosure relates to methods, apparatuses, devices, and program products for measuring speed. The method comprises acquiring, from a pressure sensor of an electronic device, first pressure information of the electronic device at a first moment when the electronic device is in a stationary state. The method further comprises acquiring, from the pressure sensor, second pressure information of the electronic device at a second moment when the electronic device is in a moving state. The method further comprises acquiring, from an acceleration sensor of the electronic device, acceleration information of the electronic device. In addition, the method comprises determining, based on the first pressure information, the second pressure information, and the acceleration information, an absolute speed of the electronic device at the second moment. By means of the method disclosed herein, the absolute speed of the electronic device can be accurately measured based on the pressure sensor and the acceleration sensor of the electronic device, thereby making the speed measurement more accurate and simple.

Description

[0001] METHOD, APPARATUS, DEVICE, AND PROGRAM PRODUCT FOR MEASURING SPEED

[0002] Technical Field

[0003] The present disclosure relates to the field of sensing technology, and more specifically, to a method, apparatus, device, and program product for measuring speed.

[0004] Prior Art

[0005] With the advancement of technology, the rapid development of wearable devices, smart homes, health management systems, as well as virtual reality and augmented reality technologies, the detection and analysis of a user's motion state has become a crucial cornerstone for enhancing user experience, enabling personalized services, and monitoring user activity. For example, when a user is playing tennis, accurately measuring the speed of the user's swing can provide a reference for improving the user's training level.

[0006] Summary of the Invention

[0007] The present disclosure provides a method, apparatus, device, and program product for measuring speed.

[0008] In a first aspect of the present disclosure, a method for measuring speed is provided. The method comprises acquiring, from a pressure sensor of an electronic device, first pressure information of the electronic device at a first moment when the electronic device is in a stationary state. The method further comprises acquiring, from the pressure sensor, second pressure information of the electronic device at a second moment when the electronic device is in a moving state. The method further comprises acquiring, from an acceleration sensor of the electronic device, acceleration information of the electronic device. In addition, the method comprises determining, based on the first pressure information, the second pressure information, and the acceleration information, an absolute speed of the electronic device at the second moment.

[0009] In a second aspect of the present disclosure, an apparatus for measuring speed is provided. The apparatus comprises a first acquisition unit, configured to acquire, from a pressure sensor of an electronic device, first pressure information of the electronic device at a first moment when the electronic device is in a stationary state. The apparatus further comprises a second acquisition unit, configured to acquire, from the pressure sensor, second pressure information of the electronic device at a second moment when the electronic device is in a moving state. The apparatus further comprises an acceleration acquisition unit, configured to acquire, from an acceleration sensor of the electronic device, acceleration information of the electronic device. In addition, the apparatus further comprises a speed determination unit, configured to determine, based on the first pressure information, the second pressure information, and the acceleration information, an absolute speed of the electronic device at the second moment.

[0010] According to a third aspect of the present disclosure, an electronic device is provided. The electronic device may comprise: at least one processor; and a memory coupled to the at least one processor and having instructions stored thereon that, when executed by the at least one processor, cause the controller to execute the method provided according to the first aspect of the present disclosure.

[0011] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided. The computer-readable storage medium has computer-executable instructions stored thereon, wherein the computer-executable instructions are executed by a processor to implement the method provided according to the first aspect of the present disclosure.

[0012] In a fifth aspect of the present disclosure, a computer program product is provided. The computer program product may comprise: computer-executable instructions that, when executed, cause a computer to perform the steps of the method provided according to the first aspect of the present disclosure.

[0013] It will be understood that the content described in the Summary of the Invention is not intended to limit key or important features of the examples of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood by the following description.

[0014] Brief Description of the Drawings

[0015] Above and other features, advantages and aspects of various examples of the present disclosure will become more apparent in combination with the accompanying drawings and with reference to the following detailed description. In the accompanying drawings, like or similar accompanying drawings designate like or similar elements, wherein:

[0016] FIG. 1 shows a schematic diagram of an exemplary environment in which multiple embodiments of the present disclosure may be implemented;

[0017] FIG. 2 shows a flowchart of a method for measuring speed according to some embodiments of the present disclosure;

[0018] FIG. 3 shows a flowchart of a method for updating absolute speed according to some embodiments of the present disclosure; FIG. 4 shows a schematic diagram of a scenario for measuring speed according to some embodiments of the present disclosure;

[0019] FIG. 5 shows a schematic diagram of linear acceleration information, pressure information, and speed information according to some embodiments of the present disclosure;

[0020] FIG. 6 shows a block diagram of an apparatus for measuring speed according to some embodiments of the present disclosure; and

[0021] FIG. 7 shows a block diagram of a device in which multiple embodiments of the present disclosure may be implemented.

[0022] Detailed Description of the Embodiments

[0023] The examples of the present disclosure will be described in further detail below with reference to the accompanying drawings. While certain examples of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure may be implemented in various forms and should not be construed as being limited to the examples set forth herein, rather these examples are provided for a more thorough and complete understanding of the present application. It should be understood that the accompanying drawings and examples of the present disclosure are for exemplary purposes only and are not intended to limit the scope of protection of the present disclosure.

[0024] In the description of the examples of the present disclosure, the term “comprise” and other similar expressions should be understood as open-ended inclusion, that is, “comprising but not limited to.” The term “based on” should be understood as “at least partially based on.” The term “one example” or “this example” should be understood as “at least one example.” The terms “first”, “second”, etc. may refer to different or the same object. The text below may comprise other specific and implicit meanings.

[0025] In the present disclosure, the positional terms such as upper, lower, left, right, front, rear, front side, back side, top, bottom, etc., as mentioned or potentially mentioned, are defined with reference to the structures shown in the accompanying drawings. These are relative concepts and, therefore, may vary correspondingly depending on different positions or different states of use. Therefore, these or other orientation terms should not be construed as limiting.

[0026] As described above, the refined detection and recognition of a user's moving state is receiving increasing attention. For example, there is a growing interest in the simple and accurate measurement of speed. Currently, a user's movement speed can be measured by an electronic device worn by the user. Such measurement is typically performed based on the accelerometer within the electronic device. However, this method may result in inaccurate speed measurements due to cumulative errors in the measurement of acceleration.

[0027] To address this, embodiments of the present disclosure propose a method for measuring speed. In embodiments of the present disclosure, first pressure information of the electronic device at a first moment when the electronic device is in a stationary state, and second pressure information of the electronic device at a second moment when the electronic device is in a moving state, may be acquired from a pressure sensor of the electronic device. Acceleration information of the electronic device may be acquired from an accelerometer of the electronic device. Based on the first pressure information, the second pressure information, and the acceleration information, the absolute speed of the electronic device at the second moment may be determined. In this manner, when measuring the speed of the electronic device, not only is the acceleration measured by the accelerometer taken into account, but also the pressure of the electronic device is considered. Since the pressure experienced by an object during movement is related to its speed, an observed value of speed can be obtained based on the pressure. Therefore, by combining pressure information, the accuracy of speed measurement can be improved.

[0028] FIG. 1 shows a schematic diagram of an exemplary environment 100 in which multiple embodiments of the present disclosure may be implemented; As shown in FIG. 1, the environment 100 comprises a user 101 and an electronic device 102. The electronic device 102 may, for example, be a wearable smart device worn by the user 101, a device carried by the user 101, or a device implanted in the body of the user 101. During the process in which the user 101 is in a moving state or a stationary state, the electronic device 102 may also be in a moving state or a stationary state along with the movement or stillness of the user 101.

[0029] In the embodiments of the present disclosure, the electronic device 102 may include, but is not limited to, a mobile phone, tablet computer, smart watch, smart wristband, smart glasses, virtual reality terminal device, augmented reality terminal device, or other devices equipped with sensors. The present disclosure is not limited in this regard. The electronic device 102 may include one or more sensors, based on which information such as air pressure and / or acceleration of the electronic device 102 can be detected. On this basis, the movement state and movement speed of the electronic device 102 can be determined, and further, the movement state and movement speed of the user 101 can be determined.

[0030] In some embodiments, the electronic device 102 may detect the movement state. For example, when the electronic device 102 is in a stationary state along with the user 101, the electronic device 102 may detect, through its built-in sensors, that the user 101 is in a stationary state. In some embodiments, when the electronic device 102 is in a moving state along with the user 101, the electronic device 102 may detect, through its built-in sensors, that the user 101 is in a moving state and determine the movement speed of the user 101. For example, the electronic device 102 may be a wearable device worn on the user’s arm and may determine the speed of the user’s arm swing when playing tennis.

[0031] In some embodiments, the environment 100 may further include a detection device 103. The detection device 103 may include, but is not limited to, a mobile phone, tablet computer, notebook computer, desktop computer, server, or other equipment, and may be located near the user 101 or deployed in the cloud. The detection device 103 may acquire information from the electronic device 102 via wired and / or wireless means, and may determine the movement state and movement speed of the user 101 based on this information. In other words, the movement state and movement speed of the user 101 may be detected by other devices using the information from the electronic device 102.

[0032] It should be understood that, in the embodiments of the present disclosure, the electronic device 102 may move along with the user 101, and the detection of the movement state and movement speed of the user 101 is based on the detection of the movement state and movement speed of the electronic device 102. The detection of the movement state and movement speed of the electronic device 102 may be regarded as the detection of the movement state and movement speed of the user 101. It should also be understood that the environment 100 shown in FIG. 1 is merely an example of the embodiments of the present disclosure and should not be construed as limiting the solutions provided by the present disclosure. For example, in some embodiments, the electronic device 102 may be worn by an animal or deployed in equipment such as robots or vehicles. By detecting the movement state and movement speed of the electronic device 102, the movement state and movement speed of the animal, robot, vehicle, etc., can be determined. In some embodiments, the detection device 103 and the electronic device 102 may be the same device, while in other embodiments, the detection device 103 and the electronic device 102 may be different devices.

[0033] FIG. 2 shows a flowchart of a method for measuring speed according to some embodiments of the present disclosure. The method 200 may be executed by a detection device, which may be, for example, the detection device 103 or the electronic device 102 in environment 100, or a system and / or module within the detection device 103 or the electronic device 102. The detection device may be implemented in software and / or hardware. For ease of illustration, the following description takes the detection device as the executing entity as an example to provide a schematic explanation of method 200. Referring to FIG. 2, method 200 may include blocks 202 to 208. In block 202, the detection device acquires, from a pressure sensor of an electronic device, first pressure information of the electronic device at a first moment when the electronic device is in a stationary state. The pressure information may indicate the atmospheric pressure experienced by the electronic device, and the first pressure information may indicate the atmospheric pressure experienced by the electronic device when it is in a stationary state. For example, the electronic device may include a pressure sensor, which can detect the atmospheric pressure experienced by the electronic device. It is understood that the atmospheric pressure experienced by the electronic device varies with changes in the moving state of the electronic device. For example, the atmospheric pressure experienced by the electronic device when it is stationary may differ from that experienced when it is in motion. As the moving state of the electronic device changes, the pressure information detected by the pressure sensor also changes accordingly.

[0034] In some embodiments, the pressure sensor may record the changes in pressure experienced by the electronic device over time. The electronic device may also determine and record changes in its moving state over time using sensors such as a camera or an accelerometer. The detection device may determine the moment when the electronic device is in a stationary state (referred to as the first moment for convenience) based on the changes in moving state over time, and use the pressure information recorded by the pressure sensor at this first moment as the first pressure information.

[0035] In block 204, the detection device acquires, from the pressure sensor, second pressure information of the electronic device at a second moment when the electronic device is in a moving state. The second pressure information may indicate the atmospheric pressure experienced by the electronic device when it is in a moving state. In some embodiments, the detection device may determine the moment when the electronic device is in a moving state (referred to as the second moment for distinction) based on changes in the pressure experienced by the electronic device over time and changes in its moving state over time, and use the pressure information recorded by the pressure sensor at this second moment as the second pressure information. It is understood that the second moment may occur before or after the first moment; the present disclosure does not limit the chronological order of the first and second moments.

[0036] For fluids such as air, their pressure characteristics can be described using dynamic pressure, static pressure, and total pressure. Static pressure is the pressure exerted by air directly on the surface of an object, and its value can be measured by a pressure sensor. Dynamic pressure is the kinetic energy per unit volume of air, and its value is related to the density and velocity of the fluid, satisfying the following equation:

[0037] Po=O.5xpairV2(1) where Po denotes the dynamic pressure, pair denotes the air density (which may be predefined, for example, 1.225 kg / m3), and V denotes the flow velocity.

[0038] For a fluid, the sum of its static pressure and dynamic pressure is referred to as the total pressure, which represents the total energy of the fluid. For a stable fluid, its total pressure can be considered constant. If the fluid velocity is zero, the total pressure equals the static pressure, and the dynamic pressure is zero. As the flow velocity increases, the dynamic pressure increases and the static pressure decreases. The first pressure information is the atmospheric pressure experienced by the electronic device in air when it is stationary, and thus can be regarded as the total pressure of the air. The second pressure information is the atmospheric pressure experienced by the electronic device in air when it is in motion, and thus can be regarded as the static pressure at the second moment. That is, through the steps in blocks 202 and 204, the total pressure and static pressure can be determined respectively based on the pressure sensor in the electronic device. Based on the total pressure and the static pressure at the second moment, the dynamic pressure of the air at the second moment can be determined. On this basis, the observed value of the velocity of the electronic device relative to the air at the second moment (referred to as the observed speed) can be determined using the aforementioned equation (1).

[0039] In block 206, the detection device acquires, from the accelerometer of the electronic device, acceleration information of the electronic device. The acceleration information may indicate changes in the acceleration of the electronic device over time and may include the magnitude of acceleration at multiple moments starting from when the acceleration is zero, for example, including the magnitude of acceleration at multiple moments before the second moment. In some embodiments, the acceleration information may also include the direction of acceleration.

[0040] For example, the electronic device may include an accelerometer, which can detect both the magnitude and direction of acceleration of the electronic device. In some embodiments, the electronic device may be equipped with accelerometers for measuring acceleration components in three mutually perpendicular directions in three-dimensional space (x-axis, y-axis, and z-axis), and the acceleration information may indicate the acceleration components in the x, y, and z directions. It should be understood that at any given moment, the acceleration a of the electronic device and its components ax, ay, and azin the x, y, and z directions, respectively, satisfy the relationship: a2=ax2+ay2+az2. In some embodiments, the acceleration indicated by the acceleration information is discrete; for example, the acceleration information may include acceleration values at multiple predetermined time points within a predetermined time period. In some embodiments, the acceleration indicated by the acceleration information is continuous; for example, the acceleration information may be in the form of a curve, indicating the acceleration value of the electronic device at any moment within a predetermined time period.

[0041] In block 208, the detection device determines the absolute speed of the electronic device at the second moment based on the first pressure information, the second pressure information, and the acceleration information. The absolute speed may indicate the magnitude of the velocity of the electronic device and is a scalar value. The detection device may determine the absolute speed of the electronic device at the second moment by combining the first pressure information, the second pressure information, and the acceleration information. For example, in some embodiments, the detection device may determine the observed speed of the electronic device based on the first and second pressure information and the aforementioned equation (1), and may determine the predicted speed of the electronic device based on the acceleration information. The detection device may then determine the absolute speed of the electronic device at the second moment based on the observed speed and the predicted speed, for example, by combining the observed speed and predicted speed using predefined weights or a predefined algorithm to obtain the absolute speed of the electronic device.

[0042] In this way, the process of measuring speed takes into account not only the acceleration information but also the pressure information, thereby improving the accuracy of speed detection. Furthermore, this method of speed measurement only requires data from the pressure sensor and the accelerometer in the electronic device, thus reducing the complexity and size of the electronic device. In electronic devices sensitive to power consumption, such as wearable devices, determining the absolute speed of the electronic device using only the pressure information measured by the pressure sensor and the acceleration information measured by the accelerometer can significantly reduce the overall power consumption of the electronic device and extend its service life.

[0043] It should be understood that the above description, in conjunction with FIG. 2, of the solution provided by the present disclosure is merely illustrative and should not be construed as limiting the embodiments of the present disclosure. For example, although FIG. 2 shows blocks 202 and 204 preceding block 206, this is not intended to limit the sequence of operations performed at blocks 202 to 206. On the contrary, the operations performed at blocks 202, 204, and 206 may be performed in a different order or simultaneously. In some embodiments, in the aforementioned block 202, the detection device may determine that the electronic device is in a stationary state based on acceleration information acquired from the electronic device. For example, in some embodiments, the detection device may determine whether the acceleration of the electronic device is less than a predefined acceleration threshold (referred to herein for distinction and explanation as the first acceleration threshold), and may determine that the electronic device is in a stationary state if the acceleration is less than the first acceleration threshold.

[0044] In some embodiments, the electronic device may further be equipped with a sensor for detecting angular velocity, and the detection device may determine whether the electronic device is in a stationary state based on both the acceleration and angular velocity of the electronic device. For example, the detection device may compare the acceleration of the electronic device at a certain moment with the first acceleration threshold, and compare the angular velocity at that moment with a predefined angular velocity threshold (referred to herein as the first angular velocity threshold). If the acceleration is less than the first acceleration threshold and the angular velocity is less than the first angular velocity threshold, the detection device determines that the electronic device is in a stationary state at that moment. In some embodiments, after determining that the electronic device is in a stationary state at the first moment, the detection device may then acquire, as the first pressure information, the pressure information detected by the pressure sensor of the electronic device at the first moment. In some embodiments, in the aforementioned block 204, the detection device may determine that the electronic device is in a moving state based on acceleration information acquired from the electronic device. For example, in some embodiments, the detection device may determine whether the acceleration of the electronic device is greater than a predefined acceleration threshold (referred to herein as the second acceleration threshold), and may determine that the electronic device is in a moving state if the acceleration is greater than or equal to the second acceleration threshold.

[0045] In some embodiments, the detection device may determine that the electronic device is in a moving state based on the angular velocity of the electronic device. For example, the detection device may compare the acceleration of the electronic device at a certain moment with the second acceleration threshold, and compare the angular velocity at that moment with a predefined angular velocity threshold (referred to herein as the second angular velocity threshold). If the acceleration is greater than or equal to the second acceleration threshold or the angular velocity is greater than or equal to the second angular velocity threshold, the detection device determines that the electronic device is in a moving state at that moment. It should be understood that the embodiments of the present disclosure do not limit the relative magnitudes between the first and second acceleration thresholds, nor between the first and second angular velocity thresholds.

[0046] In some embodiments, in the aforementioned block 206, the acceleration information of the electronic device acquired by the detection device from the acceleration sensor of the electronic device (referred to herein as raw acceleration information) comprises gravitational acceleration information. On this basis, the detection device may eliminate the gravitational acceleration information from the raw acceleration information to obtain linear acceleration, where linear acceleration refers to acceleration information excluding gravitational acceleration. For example, the electronic device may be equipped with an angular velocity sensor, and the detection device may integrate the angular velocity information detected by the angular velocity sensor to obtain the pitch, yaw, and roll angles of the electronic device, and determine the linear acceleration of the electronic device using the following formulas:

[0047] axi=axo -gxcos(Pitch) (2)

[0048] ayi=ayo - gxcos(Roll) (3 )

[0049] azi=azo -gxcos(Yaw) (4) where Pitch represents the pitch angle of the electronic device detected by the angular velocity sensor, Roll represents the roll angle, Yaw represents the yaw angle, axi, ayi, and azirepresent the components of the linear acceleration along the x, y, and z axes, respectively. axo, ayo, and azo represent the components of the acceleration detected by the acceleration sensor along the x, y, and z axes, respectively.

[0050] It should be understood that the description in the embodiments of the present disclosure regarding determining the linear acceleration information of the electronic device based on raw acceleration information and angular velocity information is merely illustrative and should not be construed as limiting the technical solutions provided by the present disclosure. The present disclosure does not limit the method for obtaining linear acceleration. For example, the method for obtaining linear acceleration may also employ Kalman filtering or any sensor fusion algorithm, which is not limited herein.

[0051] In some embodiments, in the aforementioned block 208, the detection device may determine dynamic pressure based on the first pressure information and second pressure information, and, based on the dynamic pressure and acceleration information, determine the absolute speed of the electronic device using a predefined Kalman filtering algorithm. For example,

[0052] the detection device may determine the observed speed of the electronic device based on the dynamic pressure. For instance, the detection device may determine the observed speed of the electronic device at a second moment when the device is in a moving state in air using the aforementioned formula (1). The detection device may determine the predicted speed of the electronic device based on acceleration information. For example, the detection device may integrate the acceleration information acquired during the movement of the electronic device to obtain the predicted speed of the electronic device at the second moment when it is in a moving state. The detection device may determine the covariance at the second moment based on the covariance and process noise determined at the previous moment. The detection device may determine the Kalman gain based on the covariance at the second moment and the observation noise. The detection device may determine the absolute speed of the electronic device at the second moment based on the predicted speed, observed speed, and Kalman gain at the second moment. In some embodiments, the detection device may update the covariance based on the covariance at the second moment and the Kalman filter gain, thereby obtaining the covariance at the next moment after the second moment. In this way, by continuously updating the covariance and continuously optimizing the predicted speed using the observed speed, the absolute speed at each moment can be obtained.

[0053] As an example, for any moment t, the absolute speed Vt of the electronic device may be determined by the following formula:

[0054] Vt2=Vtx2+Vty2+Vtz2(5) where Vtx, Vty, and Vtz represent the components of the absolute speed of the electronic device along the x, y, and z axes at moment t, respectively. The values of Vtx, Vty, and Vtz can be represented by the matrix Xt=[Vtx, Vty, Vtz, biasxt, biasyt, biaszt]T, where Xt is the state vector selected for Kalman filtering, and biasxt, biasyt, and biaszt represent the offsets of Vtx, Vty, and Vtz, respectively. Xt satisfies the following equation:

[0055] Xt=Xpt+KtxYt (6) where Xpt denotes the predicted velocity matrix at time t, Kt denotes the Kalman gain matrix at time t, and Yt denotes the residual matrix at time t. Xpt, Kt, and Yt can respectively satisfy the following equations: PairXV()yt 0 0

[0056] (8)

[0057]

[0058] where axt, ayt, and azt are the components of the acceleration of the electronic device at time t in the x, y, and z directions, respectively. The values of a^, ayt, and azt can be obtained via an accelerometer. Xt-i refers to the matrix indicating the absolute velocity of the electronic device at time t-1, i.e., the moment immediately preceding time t. Xt-i can be determined in the same manner as Xt. pair denotes the air density, whose value may be predefined. Voxt, Voyt, and Vozt represent the components of the observed velocity of the electronic device at time t in the x, y, and z directions, respectively. The values of Voxt, Voyt, and Vozt can be determined according to the aforementioned equation (1). Zt is the state matrix of the electronic device at time t, Zt=[Pot, axt, ayt, azt]. Pot denotes the dynamic pressure at time t, which can be detected by a pressure sensor. The specific implementation can refer to the descriptions of block 202 and block 204 above and will not be repeated here.

[0059] Ppt is the predicted covariance matrix at time t, and St is the fitted residual variance matrix at time t. St and Ppt can satisfy the following equations, respectively:

[0060] ~e40 0 0 0 0 ’ 1 0 0 -dt 0 0 • I 0 0 -dt 0 0 • 0 e40 0 0 0 0 1 0 0 -dt 0 0 1 0 0 -dt 0 0 0 1 0 0 -dt 0 0 e'40 0 0 PxPMx 0 0 1 0 0 -dt +pt= 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 e'60 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 c60 -0 0 0 0 0 1 -0 0 0 0 0 1 Lo 0 0 0 0 e6J (10)

[0061] 1 0 0 0 Pai / Voxt Pai / Vovt PairXVOzt 0 0 0 Pa„xV0x< Pai,xVOyt Pa„xVOzt 0 0 0 0 e20 0 0 0 0 0 0 0 0 0 0 0 0 0 xPplx 0 0 e'20 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 e"2

[0062]

[0063] (H) where Pt-i is the optimal covariance matrix at time t-1, i.e., the moment immediately preceding time t, and Pt-i can satisfy the following equation: PairXVoxt-l Pair^Oyt-l PairX^Ozt-l 0 Pt-i— (I-Kt-ix0 0 0 o 0 0 0 0 0 0 0 0

[0064]

[0065] where I denotes a 6x6 identity matrix, Voxt-i, Voyt-i, and Vozt-i represent the components of the observed velocity of the electronic device at time t-1 in the x, y, and z directions, respectively. Kt-i denotes the Kalman gain matrix at time t-1, and Ppt-i denotes the predicted covariance matrix at time t-1. The values of Voxt, Voyt, and Vozt can be determined according to the aforementioned equation (1). Kt-i can be determined in the same manner as Kt, and Ppt-i can be determined in the same manner as Ppt.

[0066] By means of equations (5) to (12) above, given the initial values at t=0, the absolute velocity of the electronic device at any time can be determined. In some embodiments, the initial value of the matrix representing the absolute velocity of the electronic device may be set as Xo=[O, 0, 0, 0, 0, 0], and the initial value of the predicted covariance matrix may be set as P

[0067]

[0068] po=e_1xl, where I is a 6^6 identity matrix. It should be understood that the formulas provided in the embodiments of the present disclosure are merely illustrative and should not be construed as limiting the solutions provided herein. In some embodiments, the formulas may be reasonably modified or transformed.

[0069] In some embodiments, after determining the absolute velocity of the electronic device at the second moment, the detection device may determine the absolute velocity of the electronic device at the third moment, which is after the second moment, based on the method shown in FIG. 3. FIG. 3 shows a flowchart of a method for updating absolute speed according to some embodiments of the present disclosure. The method 300 may be executed by a detection device, which may be, for example, the detection device 103 or the electronic device 102 in environment 100, or a system and / or module within the detection device 103 or the electronic device 102. Referring to FIG. 3, method 300 may include blocks 302 to 308.

[0070] In block 302, the detection device acquires, from a pressure sensor, third pressure information of the electronic device at a third moment when the electronic device is in a moving state, where the third moment is after the second moment. In block 304, the detection device determines, based on the first pressure information and the third pressure information, a second observed velocity of the electronic device at the third moment. In some embodiments, the detection device may determine the second observed velocity at the third moment according to the aforementioned equation (1). In block 306, the detection device determines, based on acceleration information and the absolute velocity of the electronic device at the second moment, a second predicted velocity of the electronic device at the third moment. In some embodiments, the detection device may determine the second predicted velocity according to the aforementioned equation (7). In block 308, the detection device determines, based on the second observed velocity, the second predicted velocity, and a predefined Kalman filtering algorithm, a second absolute velocity of the electronic device at the third moment. For example, the detection device may determine the second absolute velocity according to equations (5) to (12) above.

[0071] In this manner, by continuously detecting the pressure information and acceleration information of the electronic device while it is in a moving state, the observed velocity and predicted velocity can be continuously updated, and new absolute velocities can be continuously determined. Thus, the detection of the movement speed of the electronic device can be more timely, the user can be presented with the change in movement speed over time, and the user experience can be improved.

[0072] FIG. 4 shows a schematic diagram of a scenario for measuring speed according to some embodiments of the present disclosure. FIG. 4 includes device 410, which comprises an inertial measurement unit 401, a pressure sensor 402, processing units 403 and 404, and a Kalman filtering unit 405. The inertial measurement unit 401 can measure acceleration information and angular velocity information of the electronic device, and the pressure sensor 402 can detect pressure information of the electronic device. Processing unit 403 can process the acceleration information and angular velocity information to obtain linear acceleration information. Processing unit 404 can determine whether the electronic device is in a stationary state based on the acceleration information and angular velocity information. Processing unit 404 can also determine whether the pressure measured by pressure sensor 402 is total pressure or static pressure, and determine the dynamic pressure based on the total pressure and static pressure. For example, if device 410 is determined to be in a stationary state, the measured pressure can be determined as total pressure; if device 410 is determined to be in a moving state, the measured pressure can be determined as static pressure. Processing unit 404 can determine the difference between total pressure and static pressure as dynamic pressure. Kalman filtering unit 405 can determine the absolute velocity 406 of device 410 based on the dynamic pressure and linear acceleration information. The specific steps executed by each unit in device 410 may refer to the aforementioned method 200 and equations (1) to (12), which will not be repeated here.

[0073] FIG. 5 shows a schematic diagram of linear acceleration information, pressure information, and speed information according to some embodiments of the present disclosure. FIG. 5 includes graph 501, graph 502, and graph 503. Graph 501 represents the variation of the acceleration of the electronic device overtime. In some embodiments, graph 501 may include the variation of multiple acceleration components over time. For example, it may include the variation over time of the acceleration component of the electronic device along the x-axis, the variation over time of the acceleration component along the y-axis, and the variation over time of the acceleration component along the z-axis. Graph 502 represents the variation over time of the pressure of the electronic device as detected by the pressure sensor of the electronic device. Graph 503 is a graph showing the absolute speed of the electronic device over time as determined by the detection device based on graph 501 and graph 502.

[0074] By employing the method disclosed herein, both the acceleration measured by the acceleration sensor and the pressure measured by the pressure sensor are taken into account when measuring the speed of the electronic device. Since the pressure experienced by an object during motion is related to its speed, an observed speed value can be obtained based on the pressure. Therefore, incorporating pressure information can improve the accuracy of speed measurement, thereby enhancing the user experience. Furthermore, in the embodiments of the present disclosure, the determination of total pressure and static pressure can be performed using a single pressure sensor of the electronic device, without requiring the electronic device to include multiple pressure sensors for separately measuring static and total pressure. This simplifies the detection process for total and static pressure, improves the adaptability of the solution provided by the present disclosure, and allows even more compact electronic devices to detect speed based on pressure.

[0075] FIG. 6 shows a block diagram of an apparatus 600 for measuring speed according to some embodiments of the present disclosure. As shown in FIG. 6, the apparatus 600 comprises a first acquisition unit 602, configured to acquire, from a pressure sensor of the electronic device, first pressure information of the electronic device at a first moment when the electronic device is in a stationary state. The apparatus 600 further comprises a second acquisition unit 604, configured to acquire, from the pressure sensor, second pressure information of the electronic device at a second moment when the electronic device is in a moving state. The apparatus 600 further comprises a third acquisition unit 606, configured to acquire acceleration information of the electronic device from an acceleration sensor of the electronic device. Additionally, the apparatus 600 comprises a speed determination unit 608, configured to determine the absolute speed of the electronic device at the second moment based on the first pressure information, the second pressure information, and the acceleration information.

[0076] In some embodiments, the first acquisition unit 602 comprises: a first speed determination unit, configured to determine a first acceleration and a first angular velocity of the electronic device at the first moment; and a first state determination unit, configured to determine that the electronic device is in a stationary state at the first moment in response to the first acceleration being less than a first acceleration threshold and the first angular velocity being less than a first angular velocity threshold.

[0077] In some embodiments, the second acquisition unit 604 comprises: a second speed determination unit, configured to determine a second acceleration and a second angular velocity of the electronic device at the second moment; and a second state determination unit, configured to determine that the electronic device is in a moving state at the second moment in response to the second acceleration being greater than or equal to a second acceleration threshold or the second angular velocity being greater than or equal to a second angular velocity threshold.

[0078] In some embodiments, the first acquisition unit 606 comprises: a fourth acquisition unit, configured to acquire raw acceleration information and angular velocity information of the electronic device from an inertial measurement unit of the electronic device; and an acceleration determination unit, configured to determine linear acceleration information of the electronic device based on the raw acceleration information and the angular velocity information.

[0079] In some embodiments, the speed determination unit 608 comprises: a third speed determination unit, configured to determine an observed speed of the electronic device at the second moment based on the first pressure information and the second pressure information; a fourth speed determination unit, configured to determine a predicted speed of the electronic device at the second moment based on the acceleration information; and a fifth speed determination unit, configured to determine the absolute speed based on the predicted speed and the observed speed.

[0080] In some embodiments, the fifth speed determination unit is further configured to: determine the absolute speed based on the predicted speed, the observed speed, and a predefined Kalman filtering algorithm.

[0081] In some examples, the apparatus 600 further comprises: A fifth acquisition unit is configured to acquire, from the pressure sensor, third pressure information of the electronic device at a third moment when the electronic device is in a moving state, wherein the third moment is after the second moment; a sixth speed determination unit is configured to determine a second observed speed of the electronic device at the third moment based on the first pressure information and the third pressure information; a seventh speed determination unit is configured to determine a second predicted speed of the electronic device at the third moment based on the acceleration information and the absolute speed; and an eighth speed determination unit is configured to determine a second absolute speed of the electronic device at the third moment based on the second observed speed, the second predicted speed, and the Kalman filtering algorithm.

[0082] FIG. 7 shows a schematic block diagram of an exemplary device 700 suitable for implementing embodiments of the present application. Device 700 may correspond, for example, to the detection device described in the foregoing method embodiments. As shown in FIG. 7, the apparatus 700 comprises a processor 701, which can execute various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 702 or loaded into a random access memory (RAM) 703. Various programs and data required for the operation of the apparatus 700 can also be stored in the RAM 703. The processor 701, the ROM 702, and the RAM 703 are interconnected through a bus 704. An input / output (VO) interface 705 is also connected to the bus 704.

[0083] The methods or processes described above, such as method 200 and method 300, may be executed by processor 701. For example, in some embodiments, methods 200 and 300 may be implemented as computer software programs tangibly embodied in machine-readable media. In some embodiments, portions or all of the computer program can be loaded and / or installed onto device 700 via ROM 702. When the computer program is loaded and executed by processor 701, one or more steps or actions of the methods or processes described above may be performed.

[0084] The present disclosure may be a method, device, system, and / or computer program product. The computer program product may comprise a computer-readable storage medium uploaded with computer-readable program instructions for performing various aspects of the present disclosure.

[0085] The computer-readable storage medium may be a tangible device that maintains and stores instructions used to instruct execution devices. The computer-readable storage medium, for example, may be - but is not limited to - an electrical storage device, magnetic storage device, optical storage device, electromagnetic storage device, semiconductor memory device, or any suitable combination of the above. More specific examples of the computer-readable storage medium (a non-exhaustive list) comprise: random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), and any suitable combination of the above. The computer-readable storage medium used herein is not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0086] The computer-readable program instructions described herein may be downloaded to various computing / processing devices from computer-readable storage medium, or downloaded from networks, such as the Internet, a local area network, a wide-area network and / or a wireless network to external computers or external storage devices. The networks may comprise copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in computer-readable storage medium of each computing / processing device.

[0087] The computer program instructions used to execute the operations of the present disclosure may be assembly instructions, instructions set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, statesetting data, or source code or object code written with any combination of one or many programming languages, with the programming languages including object-oriented programming languages such as Smalltalk, C++, etc., as well as conventional procedural programming languages such as “C” language or similar programming languages. Computer-readable program instructions may be fully executed on the user’s computer, partially executed on the user’s computer, executed as an independent software package, partially executed on the user’ s computer and partially executed on a remote computer, or fully executed on a remote computer or server. Where a remote computer is involved, the remote computer may be connected to the user’s computer through any type of network, including local area network (LAN) or wide area network (WAN), or it may be connected to an external computer (such as by using an Internet service provider for Internet connection). In some examples, the state information of computer-readable program instructions is used to personalize custom electronic circuits, such as a programmable logic circuit, field-programmable gate array (FPGA) or programmable logic array (PLA), wherein the electronic circuit is able to execute computer-readable program instructions, thereby achieving the various aspects of the present disclosure.

[0088] Various aspects of the present disclosure are described herein with reference to flow charts and / or block diagrams depicting methods, apparatus (systems), and computer program products according to the examples of the present disclosure. It should be understood that every block in the flow charts and / or block diagrams and the combinations of various blocks in the flow charts and / or block diagrams may be implemented by computer-readable program instructions.

[0089] These computer-readable program instructions may be supplied to a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, when executed by the processing unit of the computer or other programmable data processing apparatus, create means for implementing the functions / actions specified in one or more blocks of the flowcharts and / or block diagrams. These computer-readable program instructions may also be stored on a computer-readable storage medium, which can cause a computer, programmable data processing apparatus, and / or other devices to function in a particular manner. Accordingly, a computer-readable medium storing the instructions constitutes an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks of the flowcharts and / or block diagrams.

[0090] The computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices, causing a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other devices to produce a computer-implemented process, such that the instructions executed on the computer, other programmable data processing apparatus, or other devices implement the functions / actions specified in one or more blocks of the flowcharts and / or block diagrams.

[0091] The flow charts and block diagrams in the accompanying drawings show the system architecture, functions and operations that may be implemented based on the systems, methods and computer program products according to the plurality of examples of the present disclosure. Regarding this, every block in the flow chart or block diagram can represent a part of a module, program section or instructions, wherein the part of the module, program section or instructions contains one or a plurality of executable instructions that are used to implement the stipulated logic function. In some alternative implementations, the occurrence of the function indicated in the blocks may also differ from the sequence indicated in the accompanying drawings. For example, two continuous blocks may actually be substantially performed in a concurrent manner and they may also sometimes be performed in reverse order, depending on the functions involved. It must also be noted that every block in the block diagrams and / or flow charts, as well as combinations of blocks in the block diagrams and / or flow charts may be implemented by dedicated hardware-based systems used to perform the stipulated functions or actions, or implemented by using combinations of dedicated hardware and computer instructions.

[0092] The various examples of the present disclosure have been described above. The descriptions provided are exemplary and not exhaustive, and they are also not limited to the disclosed examples. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described examples. The selection of terms used in this text aims to best explain the principles and actual application of the various examples, the technological improvements in the technology in the market, or allow others of ordinary skill in the art to understand the various embodiments disclosed in this text.

Claims

Claims1. A method (200) for measuring speed, comprising:acquiring (202), from a pressure sensor of an electronic device, first pressure information of the electronic device at a first moment when the electronic device is in a stationary state;acquiring (204), from the pressure sensor, second pressure information of the electronic device at a second moment when the electronic device is in a moving state;acquiring (206), from an acceleration sensor of the electronic device, acceleration information of the electronic device; anddetermining (208), based on the first pressure information, the second pressure information, and the acceleration information, an absolute speed of the electronic device at the second moment.

2. The method (200) according to Claim 1, wherein acquiring (202), from the pressure sensor of the electronic device, the first pressure information of the electronic device at the first moment when the electronic device is in a stationary state comprises:determining a first acceleration and a first angular velocity of the electronic device at the first moment; andin response to the first acceleration being less than a first acceleration threshold and the first angular velocity being less than a first angular velocity threshold, determining that the electronic device is in the stationary state at the first moment.

3. The method (200) according to Claim 1, wherein acquiring (204), from the pressure sensor, the second pressure information of the electronic device at the second moment when the electronic device is in a moving state comprises:determining a second acceleration and a second angular velocity of the electronic device at the second moment; andin response to the second acceleration being greater than or equal to a second acceleration threshold or the second angular velocity being greater than or equal to a second angular velocity threshold, determining that the electronic device is in the moving state at the second moment.

4. The method (200) according to Claim 1, wherein acquiring (206), from the acceleration sensor of the electronic device, the acceleration information of the electronic device comprises:acquiring raw acceleration information and angular velocity information of the electronicdevice from an inertial measurement unit of the electronic device; anddetermining linear acceleration information of the electronic device based on the raw acceleration information and the angular velocity information.

5. The method (200) according to any one of Claims 1 to 4, wherein determining the absolute speed of the electronic device at the second moment comprises:determining an observed speed of the electronic device at the second moment based on the first pressure information and the second pressure information;determining a predicted speed of the electronic device at the second moment based on the acceleration information; anddetermining the absolute speed based on the predicted speed and the observed speed.

6. The method (200) according to Claim 5, wherein determining the absolute speed based on the predicted speed and the observed speed comprises:determining the absolute speed based on the predicted speed, the observed speed, and a predefined Kalman filtering algorithm.

7. The method (200) according to Claim 6, further comprising:acquiring, from the pressure sensor, third pressure information of the electronic device at a third moment when the electronic device is in a moving state, wherein the third moment is after the second moment;determining a second observed speed of the electronic device at the third moment based on the first pressure information and the third pressure information;determining a second predicted speed of the electronic device at the third moment based on the acceleration information and the absolute speed; anddetermining a second absolute speed of the electronic device at the third moment based on the second observed speed, the second predicted speed, and the Kalman filtering algorithm.

8. An apparatus (600) for measuring speed, comprising:a first acquisition unit (602), configured to acquire, from a pressure sensor of an electronic device, first pressure information of the electronic device at a first moment when the electronic device is in a stationary state;a second acquisition unit (604), configured to acquire, from the pressure sensor, second pressure information of the electronic device at a second moment when the electronic deviceis in a moving state;an acceleration acquisition unit (606), configured to acquire, from an acceleration sensor of the electronic device, acceleration information of the electronic device; anda speed determination unit (608), configured to determine, based on the first pressure information, the second pressure information, and the acceleration information, an absolute speed of the electronic device at the second moment.

9. An electronic device comprising:at least one processor, anda memory coupled to the at least one processor and having instructions stored thereon, wherein the instructions, when executed by the at least one processor, cause the device to perform the method according to any one of Claims 1 to 7.

10. A computer program product, comprising computer-executable instructions, wherein the computer-executable instructions are executed by a processor to implement the method according to any one of Claims 1 to 7.

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