可穿戴式自主定位技术的零速触发算法研究

A Research about Zero Velocity Trigger Algorithm Used in the Wearable Autonomous Positioning Technology

所谓步态,即指人们在行走时躯干与腿的姿势,以及脚部接触地面时的状态。现如今,相关步态特征的应用技术已飞快地发展了起来。并在安全系统、人机交互、导航定位、医疗诊断等方面有了广泛的应用。而本文将提出一种利用三条件法将可穿戴式MEMS IMU(Inertial Measurement Units)用来实现检测静止步态的技术,此技术可以在定位领域,将检测出的静止状态作为一种触发条件,为零速修正、地磁角度更新等静态校准技术服务,从而使得定位的实时性和精确性得以更好的保障。本文通过将IMU分别安置在人体的脚部,腰部和胸部进行静止步态的检测,最终通过测试数据的仿真得出结论:将IMU放在脚部的静态检测效果要远远好于其他两种情况。

The so-called gait,is the posture of people＇s trunk and legs when they are walking,as well as the status of the feet when they are touching the ground. And nowadays, the application of the related gait characteristics technology has been developed quickly and had a wide range of applications in security systems, human-computer interaction, navigation,medical diagnosis and so on. And this paper will propose a technology by three conditions method to implement the still gait detection of the wearable MEMS IMU （Inertial Measurement Units）. Above technology which can use the detected the stationary state as a trigger condition applies to zero velocity correction,updating of the geo- magnetic angle and the relevant static calibration techniques in positioning field. Thus the result of the real-time and accuracy in the positioning process will be better. This paper will respectively place the IMU on the pedestrian＇s foot, waist and chest to proceed the stationary gait testing. Final test data through the simulation shows that the detection still result of the case which place the IMU on the foot is much better than the other two cases.