一种基于腿部摆动角度的计步方法

现有智能手机多是利用加速计实现计步功能,结合智能手机上的陀螺仪测量参数,文中提出一种基于腿部摆动角度的计步方法。该方法依据行走过程中腿部摆动角度存在最小值和最大值,利用摆动的最大值和最小值之差应在一定范围内变化实现准确计步。首先利用陀螺仪测量值对四元数实时更新;然后通过四元数计算旋转矩阵并且计算手机的俯仰角值,也就是腿部摆动角度的变化;最后利用卡尔曼滤波处理摆动角度并计算腿部摆动的相连最大值(波峰)和最小值(波谷)差值应在一定范围内变化进行计步。实验采用日常所用的智能手机,分析了不同运动状态的计步效果并与华为荣耀V10手机自带计步器比较。实验结果表明,该方法适用于多种行走模式下的计步,精度比手机自带计步器精度高,平均计步精度达到96%以上。

A step counting method based on leg swing angle

Most of the existing smart phones use accelerometers to realize the step counting function. Combined with the measurement parameters of gyroscopes on smartphones, this paper proposes a step counting method based on leg swing angle. This method is based on the minimum and maximum of leg swing angle during walking. The difference between the maximum and minimum of leg swing should be changed in a certain range to achieve accurate step counting. Firstly, the quaternion is updated in real time by the measured value of gyroscope;secondly, the rotation matrix is calculated by quaternion and the elevation angle of mobile phone is calculated, that is, the change of leg swing angle;finally, Kalman filter is used to process the swing angle and calculate the difference between the connected maximum(peak) and minimum(trough) of leg swing. Changes should be measured within a certain range. The experiment uses the smart phone used daily to analyze the step-counting effect of different motion states and compare it with the Huawei glory V10 mobile phone with pedometer. The experimental result shows that the method is suitable for step counting in a variety of walking modes, and the accuracy is higher than that of the mobile phone with a pedometer and the average step accuracy is over 96%.