CN106228751B - Based on Android platform MEMS/ Magnetic Sensor/GPS tumble intelligent alarm system and method - Google Patents
Based on Android platform MEMS/ Magnetic Sensor/GPS tumble intelligent alarm system and method Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0407—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons based on behaviour analysis
- G08B21/043—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons based on behaviour analysis detecting an emergency event, e.g. a fall
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0438—Sensor means for detecting
- G08B21/0446—Sensor means for detecting worn on the body to detect changes of posture, e.g. a fall, inclination, acceleration, gait
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Abstract
The invention discloses one kind to be based on Android platform MEMS/ Magnetic Sensor/GPS tumble intelligent alarm system and method, which includes: 3-axis acceleration sensor, for acquiring the 3-axis acceleration data of mobile phone；Magnetic Sensor, for acquiring the geomagnetic field intensity data of mobile phone position；Gyroscope, for acquiring the tri-axis angular rate data of mobile phone；GPS is used to obtain the location information of carrier；Data analysis module, for acquired according to the data of 3-axis acceleration sensor, gyroscope and Magnetic Sensor mobile phone posture and real-time posture spin matrix；First tumble judgment module, falls for tentatively judging whether；Second tumble judgment module, for whether being finally tumble；Alarm module, for sending carrier position and physical condition to medical institutions and relatives.The present invention, for this Special use occasion of fall detection, proposes new adaptive tune ginseng attitude algorithm algorithm, realizes the accurate detection of tumble on the basis of traditional attitude algorithm algorithm.
Description
Technical field
The present invention relates to sensor detecting field, more particularly to it is a kind of based on Android platform MEMS/ Magnetic Sensor/
The tumble intelligent alarm system and method for GPS.
Background technique
From the point of view of research achievement both domestic and external now, the method alarmed when about Falls in Old People is many kinds of, has
The matured product of a little companies occurs on the market.The shape of tumble information is being researched and developed and obtained according to every product
Formula can be divided into following three classes with source difference, most crucial method:
1. the tumble warning device that the elderly independently enables: the elderly carries one and reports independently of falling except mobile phone
Alert equipment.After tumble, old man independently presses lower button and realizes alarm, is realized on backstage by professional and is turned to alarm signal
Hair and management, for example kith and kin or the doctor etc. of alarm the elderly are informed at once.Existing alarm system such as Philip is personal anxious
Rescue alarm system.
2. the tumble alarm system based on image information detection: in routine use, can be set and be easy hair in the elderly
The raw place fallen, when there is the mobile body under abnormal condition or position and attitude variation in image information in the elderly,
The generation of tumble behavior is detected, realizes automatic alarm.Such as British scholar studies the detection to improper motor behavior.
3. air bag class passive security protective device: early by the inspiration of safe automobile air bag function when meeting with a street accident
The scholars such as prosperous male utilize acceleration transducer on the well of rice field university, by counting and test repeatedly, it is determined that in the elderly
Just starting air bag brings to reduce to fall to the elderly automatically when acceleration when tumble is greater than a certain specific threshold
Various injuries.
There is certain shortcoming in the above various modes, wherein mode 1 must carry an independent warning device
And it requires old man independently to press alarm button and can not achieve automatic alarm；Mode 2 need relevant video detecting device cost compared with
Height, and using by being limited on time and space；Mode 3 utilize a kind of sensor of accelerometer, and acquired data are very limited,
False alarm rate is high.
Therefore, it for the status of today's society Falls in Old People problem, is answered in conjunction with smart phone, inertial technology attitude detection
Development, the application are proposed inertial technology being applied to fall detection, develop one kind and (added based on MEMS built in smart phone
Speedometer, gyroscope), the fall detection alarm system of magnetometer and GPS sensor.
Summary of the invention
The technical problem to be solved in the present invention is that for the defects in the prior art, providing a kind of based on Android platform
MEMS/ Magnetic Sensor/GPS tumble intelligent alarm system and method.
The technical solution adopted by the present invention to solve the technical problems is: one kind based on Android platform MEMS/ Magnetic Sensor/
The tumble intelligent alarm system of GPS, comprising:
3-axis acceleration sensor, for acquiring the 3-axis acceleration data of mobile phone；
Magnetic Sensor, for acquiring the geomagnetic field intensity data of mobile phone position；
Gyroscope, for acquiring the tri-axis angular rate data of mobile phone；
GPS acquires carrier's position data；
Data analysis module, for acquiring carrier according to the data of 3-axis acceleration sensor, gyroscope and Magnetic Sensor
Posture and real-time posture spin matrix
Then according to posture spin matrixAcquiring under carrier system (b system), (i.e. accelerometer measures acceleration
Acceleration) under referential (n system) projection
First tumble judgment module, for calculatingWith gravitational constant g absolute value of the difference, ifAnd continue
Time is more than or equal to t1, then tentatively it is judged as tumble, wherein C is tumble decision threshold；
Second tumble judgment module, for judging t2After time, in time t3If interior Δ γ > 10 ° or Δ θ > 10 °, that is, judge
To fall, wherein Δ γ is carrier pitch angle changing value, and Δ θ is carrier roll angle changing value, is otherwise considered as interference；
Alarm module sends carrier to medical institutions and relatives if being judged as tumble for the second tumble judgment module
Position and physical condition.
One kind being based on Android platform MEMS/ Magnetic Sensor/GPS tumble intelligent alarm method, comprising the following steps:
1) data acquire: 3-axis acceleration data, the earth magnetism field strength of human body position of human body are acquired by sensor
Degree evidence, tri-axis angular rate data；
2) data are analyzed: the posture of carrier is acquired according to the data of 3-axis acceleration sensor, gyroscope and Magnetic Sensor
With real-time posture spin matrix
It is specific as follows:
2.1) it is calculated according to 3-axis acceleration sensorFor acceleration modulus value, if meetingIt is transferred to step 2.2), ifOrIt is transferred to step
2.5)；
2.2) data of 3-axis acceleration sensor and Magnetic Sensor are normalized；
2.3) data for utilizing 3-axis acceleration sensor and Magnetic Sensor, are corrected gyro data:
errorpω|k=kp1accerror|k+kp2magerror|k
errorIntω|k=errorIntω|k-1+(ki1accerror|k+ki2magerror|k)t
errorpω|kAnd errorIntω|kRespectively error rate item and integral term, t are sensor sample interval, ωbFor
The output data of gyroscope；For the data after gyroscope correction；
2.4) it brings the gyro data after correction into quaternion differential equation, updates quaternary number, carrier pitching can be obtained
Angle, roll angle and course angle；
2.5) it is integrated by gyroscope and resolves posture；
3) according to posture spin matrixAcquiring under carrier system (b system) acceleration, (what i.e. accelerometer measured adds
Speed) under referential (n system) acceleration
4) it calculatesWith gravitational constant g absolute value of the difference, ifAnd the duration is more than or equal to t1, then just
Step is judged as tumble, and wherein C is tumble decision threshold；
5) tentatively it is judged as the t that fallen2After time, in time t3If interior Δ γ > 10 ° or Δ θ > 10 °, that is, be judged as tumble,
Otherwise it is considered as interference.
According to the above scheme, it is sought using the method for fuzzy control according to carrier different motion state in the step 2.3)
Parameter accerror automatically adjust kp1And ki1。
According to the above scheme, in the step 2.3), the parameter accerror sought according to carrier different motion state is automatic
Adjust kp1And ki1, specific formula is as follows:
Wherein c1、c2、c3、c4、c5、c6For coefficient constant.
The beneficial effect comprise that:
1. the present invention, for this Special use occasion of fall detection, mentions on the basis of traditional attitude algorithm algorithm
Go out fuzzy self-adaption tune ginseng attitude algorithm algorithm, realizes the accurate detection of tumble；
2. because carrier movement epidemic situation comparison is complicated, if the proportional gain fixed to accelerometer setting and integral increase
Benefit, Attitude estimation effect are simultaneously bad；It is according to adjustment the invention proposes the error of the gyroscope X/Y axis acquired with accelerometer
The proportional gain of complementary filter and integral gain, so that reaching self_adaptive adjusting device parameter obtains more accurate posture
Purpose；
3. the sensor that the present invention uses can depend on smart phone, reduces hardware investment, improve application of the present invention
Popularization, realize Falls Among Old People alarm, quickly call for help, it is ensured that succoured in time.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the method flow diagram of the embodiment of the present invention；
Fig. 2 is the algorithm flow chart of the embodiment of the present invention；
Fig. 3 is the improved fuzzy self-adaption complementary filter structural block diagram of the embodiment of the present invention；
Fig. 4 is the embodiment of the present invention | accerrorx | subordinating degree function figure；
Fig. 5 is the embodiment of the present inventionSubordinating degree function figure；
Fig. 6 is the embodiment of the present inventionSubordinating degree function figure.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not used to limit
The fixed present invention.
As shown in Figure 1, it is a kind of based on Android platform MEMS/ Magnetic Sensor/GPS tumble intelligent alarm method, including with
Lower step:
1) data acquire: 3-axis acceleration data, geomagnetic field intensity data, three the shaft angles speed of mobile phone are acquired by sensor
Rate data and position data；
2) data are analyzed: the posture of carrier is acquired according to the data of 3-axis acceleration sensor, gyroscope and Magnetic Sensor
With real-time posture spin matrix
The present invention is specific as follows come the posture for acquiring carrier using fuzzy self-adaption tune ginseng attitude algorithm algorithm: such as Fig. 2 institute
Show,
2.1) it is calculated according to 3-axis acceleration sensorFor acceleration modulus value, if meetingIt is transferred to step 2.2), ifOrIt is transferred to step 2.5)；
2.2) data of 3-axis acceleration sensor and Magnetic Sensor are normalized；
2.3) data for utilizing 3-axis acceleration sensor and Magnetic Sensor, are corrected gyro data:
errorpω|k=kp1accerror|k+kp2magerror|k
errorIntω|k=errorIntω|k-1+(ki1accerror|k+ki2magerror|k)t
errorpω|kAnd errorIntω|kRespectively error rate item and integral term, t are sensor sample interval, ωbFor
The output data of gyroscope；For the data after gyroscope correction；
Since the magnetic environment of general carrier is more stable, therefore kp2And ki2It is set as fixed value and influence is resolved less on course.
And accelerometer is interfered larger by extraneous factor, can be exported to complementary filter and be joined raw larger impact, it is simple according to
By acceleration measuring magnitude modulus value, i.e.,It is larger that size optimizes still error to attitude algorithm.kpDetermine complementary filter
The cutoff frequency of wave device, when cutoff frequency is smaller, complementary filter output posture depends primarily on the resolving value of gyroscope；When
When cutoff frequency is larger, complementary filter output posture depends primarily on the resolving value of accelerometer and Magnetic Sensor.Because carrying
Body motion state is more complicated, if the proportional gain k that setting is fixedp1With integral gain ki1, Attitude estimation effect is simultaneously bad.
On this basis, in order to obtain more accurate posture information, major part scholar is basis at presentWith again
The difference of power acceleration modulus value, i.e., withSize be condition directly PI controller is exported carry out it is related
Adjustment, or the proportional gain k according to Aerror adjusting complementary filterp1With integral gain ki1.Since this processing method does not have
There are the input quantity accerror, the adjustment k of no standard measure in view of PI controllerp1And ki1It is exported to control, therefore to attitude of carrier
Estimate inaccurate.
This patent is directed to this problem, proposes fuzzy self-adaption complementary filter, i.e., according to the accerror (3 sought
× 1 matrix) in accerrorx, accerroy (element in accerror) absolute value (| accerrorx | and |
Accerrory |) in real time adjustment complementary filter proportional gain kp1With integral gain ki1.Improved fuzzy self-adaption complementation filter
Wave device structural block diagram is as shown in Figure 3:
In order to reach preferable control effect, this system separately designs two groups of fuzzy controllers for X/Y axis, remembersAccerrorx |, | accerrory | as the input quantity of fuzzy controller, output quantity is
Sensing data is acquired, a large amount of measured datas are carried out to posture complementary filter using Matlab tool and are located offline
Reason, obtain | accerrorx |, | accerrory | actual range be [0,0.06], be quantified as 7 grades, then have |
Accerrrox |={ 0,1,2,3,4,5,6 }, | accerrory |={ 0,1,2,3,4,5,6 }；Range is [0,20],Range is [0,8], and output quantity is similarly quantified as 7 grades, then is had
Input quantity is divided into five fuzzy subsets: { N, Z, SP, P, LP }, wherein N=is small；Z=is normal；SP=is larger；P
=big；LP=is very big；Output quantity is divided into five fuzzy subsets: { N, Z, SP, P, LP }, wherein N=is small；Z=is normal；SP=
It is larger；P=is big；LP=is very big；It is not uniquely, to be subordinate to reach control effect subordinating degree function in engineer application
Degree function is broadly divided into three classes: the Z-type function from left to right to successively decrease according to reference axis；The S type being from left to right incremented by according to reference axis
Function；According to the symmetrical Π type function of reference axis.Need to consider that microprocessor realizes blurring, ambiguity solution in systems in practice
Time, and the occupied memory headroom of rule query table is saved as far as possible, while being able to satisfy control effect again, due to calculating
Simply, common subordinating degree function is triangle, and this system also uses Triangleshape grade of membership function.Because of the Fuzzy Control of X/Y axis
Device design processed is similar, by taking X-axis as an example, | accerrorx |,WithSubordinating degree function it is as shown in Figs. 4-6:
By taking X-axis as an example, when carrier is accelerated along X-axis, accelerometer output valve includes carrier movement acceleration, can be made
| accerrorx | increase, the angle error resolved at this time by accelerometer is larger, and complementary filter output should depend primarily on gyro
The attitude angle that instrument resolves, thenWithIt should reduce；When carrier is in static or uniform speed motion state, | accerrorx | compare
Small, the attitude error resolved by accelerometer is smaller, and complementary filter output should depend primarily on the appearance of accelerometer resolving
State angle, at this timeWithIt should increase.Similarly, as | accerrory | it should reduce when largerWithWhen | accerrory | it is smaller
When Ying Zeng greatWithFuzzy reasoning table can be obtained according to the above analysis, as shown in Table 1 and Table 2:
Table 1WithFuzzy rule
Table 2WithFuzzy rule
Following fuzzy rule can be formulated by table 1:
(1)If(||accerrorx||is N)then(kp1x is LP)(ki1x is LP)
(2)If(||accerrorx||is Z)then(kp1x is P)(ki1x is P)
(3)If(||accerrorx||is SP)then(kp1x is SP)(ki1x is SP)
(4)If(||accerrorx||is P)then(kp1x is Z)(ki1x is Z)
(5)If(||accerrorx||is LP)then(kp1x is N)(ki1x is N)
Similarly, following fuzzy rule can be formulated by table 2:
(1)If(||accerrory||is N)then(kp1y is LP)(ki1y is LP)
(2)If(||accerrory||is Z)then(kp1y is P)(ki1y is P)
(3)If(||accerrory||is SP)then(kp1y is SP)(ki1y is SP)
(4)If(||accerrory||is P)then(kp1y is Z)(ki1y is Z)
(5)If(||accerrory||is LP)then(kp1y is N)(ki1y is N)。
In step 2.3) for proportional gain kp1With integral gain ki1, this patent additionally provides a kind of calculation method, specifically
It is as follows:
Wherein c1、c2、c3、c4、c5、c6For coefficient experience numerical constant, can be obtained according to experiment.
2.4) it brings the gyro data after correction into quaternion differential equation, updates quaternary number, carrier pitching can be obtained
Angle, roll angle and course angle；It is transferred to step 2.6)；
2.5) it is integrated by gyroscope and resolves posture, i.e.,WhereinIt is to gyro after correction
Instrument dataMatrixing,
2.6) real-time posture spin matrix is obtained
3) according to posture spin matrixAcquiring under carrier system (b system) acceleration, (what i.e. accelerometer measured adds
Speed) under referential (n system) acceleration
4) it calculatesWith gravitational constant g absolute value of the difference, ifAnd the duration is more than or equal to t1, then just
Step is judged as tumble, and wherein C is tumble decision threshold；
5) tentatively it is judged as the t that fallen2After time, Δ γ > 10 ° or Δ θ > 10 ° are judged as tumble, wherein Δ γ is
Carrier pitch angle changing value, Δ θ are carrier roll angle changing value；Otherwise it is considered as interference, abandons data.
When mobile phone is tossed conveniently, because acceleration of motion is larger, thereforeCondition is set up, and system, which is just sentenced, to be touched
Hair, but mobile phone is tossed conveniently after stablizing, attitude angle will not change, and method, which is judged as, does not trigger tumble alarm finally.
When carrying mobile phone is run or quickly under the feelings row walked about, because carrier movement acceleration is smaller, therefore
Condition is invalid, and this method, which is judged as, does not trigger tumble alarm.
For be further reduced fall after can independently stand and the false alarm that generates, devise alarm cancellation mechanism: alarm touching
If system issues alarm message without operation is cancelled in 30s after hair.Alarm message sends carrier position to medical institutions and relatives
Set with physical condition information, wherein contact method and physical condition information can be preset.
Summarize: this system can accurately judge whether old man falls, while take corresponding alarm measure, so that old man exists
Emergency Assistance is obtained in first time, is utmostly reduced because of harm caused by falling old man's life；This system appearance simultaneously
State computation and application software, the erroneous judgement that motion states of for running or quickly walking about etc. may cause, take corresponding
Processing means, to reduce False Rate.
On the basis of the method, we are formed system software, can be cured as cell phone application software or individually system
System, as follows:
One kind being based on Android platform MEMS/ Magnetic Sensor/GPS tumble intelligent alarm system, comprising:
3-axis acceleration sensor, for acquiring the 3-axis acceleration data of mobile phone；
Magnetic Sensor, for locality magnetic field strength date；
Gyroscope, for acquiring the tri-axis angular rate data of mobile phone；
Data analysis module, for acquiring carrier according to the data of 3-axis acceleration sensor, gyroscope and Magnetic Sensor
Posture and real-time posture spin matrix
Then according to posture spin matrixAcquiring under carrier system (b system), (i.e. accelerometer measures acceleration
Acceleration) under referential (n system) acceleration
First tumble judgment module, for calculatingWith gravitational constant g absolute value of the difference, ifAnd continue
Time is more than or equal to t1, then tentatively it is judged as tumble, wherein C is tumble decision threshold；
Second tumble judgment module, for judging t2After time, in time t3If interior Δ γ > 10 ° or Δ θ > 10 °, that is, judge
To fall, wherein Δ γ is carrier pitch angle changing value, and Δ θ is carrier roll angle changing value；Otherwise it is considered as interference；
Alarm module sends carrier to medical institutions and relatives if being judged as tumble for the second tumble judgment module
Position and physical condition.
When mobile phone is tossed conveniently, because acceleration of motion is larger, thereforeCondition is set up, and system is just sentenced and can be triggered,
But mobile phone is tossed conveniently after stablizing, attitude angle will not change, and system software does not trigger tumble alarm finally.
When carrying mobile phone is run or quickly under the feelings row walked about, because carrier movement acceleration is smaller, therefore
Condition is invalid, and this system software does not trigger tumble alarm.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (5)
1. one kind is based on Android platform MEMS/ Magnetic Sensor/GPS tumble intelligent alarm system characterized by comprising
3-axis acceleration sensor, for acquiring the 3-axis acceleration data of mobile phone；
Magnetic Sensor, for acquiring the geomagnetic field intensity data of mobile phone position；
Gyroscope, for acquiring the tri-axis angular rate data of mobile phone；
GPS acquires carrier's position data；
Data analysis module, for acquiring the appearance of carrier according to the data of 3-axis acceleration sensor, gyroscope and Magnetic Sensor
State and real-time posture spin matrix
Then projection of the 3-axis acceleration under referential under carrier system is acquired according to posture spin matrix It is described
Carrier system is the orthogonal coordinate system of mobile phone horizontal axis, the longitudinal axis and vertical mobile phone plane axially constituted, and the referential is that navigation is sat
Mark system, takes geographic coordinate system as navigational coordinate system here；
First tumble judgment module, for calculatingWith gravitational constant g absolute value of the difference, ifAnd the duration
More than or equal to t1, then tentatively it is judged as tumble, wherein C is tumble decision threshold；
Second tumble judgment module is tentatively judged as the t that fallen for judging2After time, in time t3If interior Δ γ > 10 ° or Δ
θ > 10 ° are judged as tumble, wherein Δ γ is carrier pitch angle changing value, and Δ θ is carrier roll angle changing value, are otherwise considered as
Interference；
Alarm module sends carrier position to medical institutions and relatives if being judged as tumble for the second tumble judgment module
Information and physical condition.
2. one kind is based on Android platform MEMS/ Magnetic Sensor/GPS tumble intelligent alarm method, which is characterized in that including following
Step:
1) data acquire: 3-axis acceleration data, the geomagnetic field intensity data of position, three of mobile phone are acquired by sensor
Shaft angle speed data；
2) data are analyzed: the posture and reality of carrier are acquired according to the data of 3-axis acceleration sensor, gyroscope and Magnetic Sensor
When posture spin matrix
It is specific as follows:
2.1) it is calculated according to 3-axis acceleration sensor output valveWhereinFor acceleration modulus value, if meetingIt is transferred to step 2.2)；
IfOrIt is transferred to step 2.5)；
2.2) data of 3-axis acceleration sensor and Magnetic Sensor are normalized；
2.3) data for utilizing 3-axis acceleration sensor and Magnetic Sensor, are corrected gyro data:
errorpω|k=kp1accerror|k+kp2magerror|k
errorIntω|k=errorIntω|k-1+(ki1accerror|k+ki2magerror|k)t
errorpω|kAnd errorIntω|kRespectively error rate item and integral term, t are sensor sample interval, ωbFor gyro
The output data of instrument；For the data after gyroscope correction, kp1、kp2Respectively accelerometer and Magnetic Sensor calibrate gyroscope
When proportional term gain, ki1、ki2Respectively accelerometer and Magnetic Sensor calibration gyroscope when integral term gain；
Accerror is that the gyroscope X-axis sought according to accelerometer output valve and Y-axis are drifted about, and magerror is defeated according to Magnetic Sensor
It is worth the gyroscope Z axis drift sought out；
2.4) it brings the gyro data after correction into quaternion differential equation, updates quaternary number, carrier pitch angle, cross can be obtained
Roll angle and course angle；The real-time posture spin matrix of carrier is obtained by carrier pitch angle, roll angle and course angle
2.5) it is integrated by gyroscope and resolves posture；
3) according to posture spin matrixAnd conversion formula3-axis acceleration is acquired under carrier system under referential
ProjectionThe carrier system is the orthogonal coordinates of mobile phone horizontal axis, the longitudinal axis and vertical mobile phone plane axially constituted
System, the referential are navigational coordinate system, take geographic coordinate system as navigational coordinate system here；
4) it calculatesWith gravitational constant g absolute value of the difference, ifAnd the duration is more than or equal to t1, then preliminary judgement
To fall, wherein C is tumble decision threshold；
5) tentatively it is judged as the t that fallen2After time, in time t3If interior Δ γ > 10 ° or Δ θ > 10 °, that is, be judged as tumble, otherwise
It is considered as interference, abandons data, wherein Δ γ is carrier pitch angle changing value, and Δ θ is carrier roll angle changing value.
3. according to the method described in claim 2, it is characterized in that, k in the step 2.3)p2And ki2It is set as fixed value.
4. according to the method described in claim 2, it is characterized in that, using the method for fuzzy control, root in the step 2.3)
K is automatically adjusted according to the parameter accerror that carrier different motion state is soughtp1And ki1。
5. according to the method described in claim 2, it is characterized in that, in the step 2.3), according to carrier different motion state
The parameter accerror automatic adjustment k soughtp1And ki1, specific formula is as follows:
Wherein c1、c2、c3、c4、c5、c6For coefficient constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610742261.XA CN106228751B (en) | 2016-08-26 | 2016-08-26 | Based on Android platform MEMS/ Magnetic Sensor/GPS tumble intelligent alarm system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610742261.XA CN106228751B (en) | 2016-08-26 | 2016-08-26 | Based on Android platform MEMS/ Magnetic Sensor/GPS tumble intelligent alarm system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106228751A CN106228751A (en) | 2016-12-14 |
| CN106228751B true CN106228751B (en) | 2019-06-07 |
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| BR112020002720A2 (en) * | 2017-08-10 | 2020-07-28 | 3M Innovative Properties Company | generation and monitoring of fall protection devices events |
| CN109459005B (en) * | 2018-12-20 | 2020-07-10 | 安徽果力智能科技有限公司 | Attitude estimation method |
| CN109711707B (en) * | 2018-12-21 | 2021-05-04 | 中国船舶工业系统工程研究院 | Comprehensive state evaluation method for ship power device |
| CN111700624B (en) * | 2020-07-27 | 2024-03-12 | 中国科学院合肥物质科学研究院 | Pattern recognition method and system for detecting motion gesture by intelligent bracelet |
| CN111839527A (en) * | 2020-07-31 | 2020-10-30 | 高新兴物联科技有限公司 | Fall detection method and device and computer readable storage medium |
| CN114818952A (en) * | 2022-05-07 | 2022-07-29 | 南开大学 | Intelligent falling posture classification and identification method based on mobile phone sensor |
| CN116448965B (en) * | 2023-06-14 | 2023-09-01 | 四川省分析测试服务中心 | Multi-parameter poisonous and harmful gas detection system and method in limited space |
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| CN102164532B (en) * | 2008-09-23 | 2014-10-15 | 皇家飞利浦电子股份有限公司 | Power measurement method and apparatus |
| CN102707305B (en) * | 2012-06-06 | 2014-07-16 | 山东大学 | Tumble detecting and positioning system and method |
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