CN107314775A - A kind of switching at runtime based on 3-axis acceleration sensor calculates the step-recording method of axle - Google Patents
A kind of switching at runtime based on 3-axis acceleration sensor calculates the step-recording method of axle Download PDFInfo
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- CN107314775A CN107314775A CN201710349895.3A CN201710349895A CN107314775A CN 107314775 A CN107314775 A CN 107314775A CN 201710349895 A CN201710349895 A CN 201710349895A CN 107314775 A CN107314775 A CN 107314775A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
- G01C22/006—Pedometers
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Abstract
The invention discloses the step-recording method that a kind of switching at runtime based on 3-axis acceleration sensor calculates axle.It comprises the following steps：S1：The detection data of microcomputer reads 3-axis acceleration sensor output, select corresponding data to be handled according to human motion state；S2：Microprocessor draws out the crest in acceleration change curve map, detection acceleration change curve map according to the data of selection, determines that pin lands the moment according to crest；S3：Crest number A of the microprocessor in acceleration change curve map calculates current pedometer B；S4：Microprocessor judges the motion state of current human and is configured.The present invention is when people's motion state changes, and switching at runtime calculates axle, it is ensured that the meter step accuracy under each motion state of people.
Description
Technical field
Technical field is walked the present invention relates to meter, more particularly to a kind of switching at runtime based on 3-axis acceleration sensor is calculated
The step-recording method of axle.
Background technology
Modern much focuses on the daily exercise of oneself, the monitoring that meter step is taken exercise as a kind of effective record, monitoring very much
Means, are widely used in intelligent running shoes.Existing intelligent running shoes are being mounted therein with 3-axis acceleration sensor, three axles biography
The X-axis positive direction of sensor straight up, is passed towards front, Y-axis positive direction towards left side, Z axis positive direction by 3-axis acceleration
The data meter step of sensor detection, existing step-recording method is adapted to walk and scene of jogging, just less accurate in the case of quick run
Really.
The content of the invention
The purpose of the present invention be overcome existing step-recording method counted when people quickly runs walk inaccurate technical problem there is provided
A kind of switching at runtime based on 3-axis acceleration sensor calculates the step-recording method of axle, and it is when people's motion state changes, dynamic
Switching calculates axle, it is ensured that the meter step accuracy under each motion state of people.
A kind of switching at runtime based on 3-axis acceleration sensor of the present invention calculates the step-recording method of axle, 3-axis acceleration
Sensor is arranged in footwear and X-axis positive direction is towards shoe body front, is comprised the following steps：
S1：The detection data of microcomputer reads 3-axis acceleration sensor output, select corresponding according to human motion state
Data are handled, and human motion state is initially set to away line state, when human motion state is to walk line state or shape of jogging
During state, only selection X-axis acceleration information is handled, and when human motion state is quick race state, only selection XYZ tri- axles are closed
Acceleration information is handled；
S2：Microprocessor is drawn out in acceleration change curve map, detection acceleration change curve map according to the data of selection
Crest, when the corresponding acceleration magnitude of some crest is less than or equal to setting value F, the crest is removed, when two neighboring crest
Between sampled point when being less than setting value K, the minimum crest of acceleration magnitude in the two crests is removed, the crest corresponding time
At the time of point is pin landing；
S3：Crest number A of the microprocessor in acceleration change curve map calculates current pedometer B, and B=（A-1）×
2；
S4：Microprocessor judges the motion state of current human and is configured, and judges current human's motion state and is set
The method put comprises the following steps：The sampled point number D between the first two crest of a newest crest is counted, as a1≤D ＜
When the previous crest acceleration magnitude of a2 and a newest crest is more than M, judge that human body is in quick race state, by human motion
State is set to quick race state；As a2≤D≤a3, judge that human body is in state of jogging, human motion state is set to
Jog state；As a3 ＜ D≤a4, judge that human body is in away line state, human motion state is set to away line state, a1 ＜
A2 ＜ a3 ＜ a4.
In the technical program, the 3-axis acceleration sensor of this method is arranged in shoe body, 3-axis acceleration sensor
X-axis positive direction towards in front of shoe body, Y-axis positive direction towards on the left of shoe body, Z axis positive direction straight up, by detecting human body
The motion conditions of single pin carry out meter step.
1.5g, M is taken to take 5g, a1 to take 10, a2 to take 18, a3 to take 25, a4 to be illustrated exemplified by taking 80 with F：
This method judges crest according to the maximum of change curve in acceleration change curve map, when acceleration is more than 1.5g
When, you can inside the Rule of judgment for entering crest, while spurious peaks can be also introduced, the limiting frequency walked or run due to people
It can be evaluated whether out, the spacing between crest will not be less than K sampled point, so when between two crests when being smaller than K,
Larger value can be chosen as the crest of a meter step, i.e. the larger crest of numerical value is true crest, number according to crest value size
It is worth less crest for spurious peaks.
There is primary wave due to only being set on a shoes on 3-axis acceleration sensor, acceleration change curve map
Peak, people or so pin has respectively walked a step, so, crest and the relation that step number is 1 to 2, i.e., one crest correspondence are walked 2 steps.Due to
There are spurious peaks, so last crest is it cannot be determined whether be true crest, this method is in one crest of newest appearance,
Whether be true crest, so this method meter step has the delayed of crest if calculating previous crest.
Before this method is according to the sampled point number D and a newest crest between the first two crest of a newest crest
One crest acceleration magnitude judges the current motion state of human body.When human body be in away line state or jog state when, X-axis, Y
Axle, Z axis detection data it is more accurate, using the axle resultant accelerations of XYZ tri- data carry out meter step；When human body is in quick race state
When, human body advances at utmost speed forward, and the pin of people is in Y-axis, the motion amplitude very little of Z-direction, and prohibited data detection is true, therefore,
The data for only choosing X-axis acceleration carry out meter step, it is ensured that the accuracy of meter step.
Preferably, the step S3 is further comprising the steps of：When step number B is less than c, caching step number B numerical value, micro- place
Reason device does not export step number B numerical value, when step number B is more than or equal to c, microprocessor output step number B numerical value.
C >=6, caching step number, which is used primarily in, to be determined when to initially enter meter step state, in order to avoid some are disturbed, such as pin
It is any rock, caching step number is devised here and exactly initially enters meter step mode when step number is more than or equal to when c is walked, it is micro-
Processor output step number B numerical value is to modules such as display screens, and the step number produced below will be added up, and is being not reaching to c steps
When then first these step numbers of temporary cache.
Preferably, the step-recording method that a kind of switching at runtime based on 3-axis acceleration sensor calculates axle also includes
Following steps：All there is not new ripple in continuous d sampled point after last crest in acceleration change curve map
During peak, microprocessor terminates this meter step, and acceleration change curve map is reset, if now step number B is more than or equal to c, meter
Calculate total step number C=B+2 of this meter step.
C >=6, continuous d after last crest（Such as 80）When individual sampled point all new crest does not occur, people is judged
Body stop motion, terminates meter step, and total step number adds 2, i.e., last delayed crest is converted into step number adds total step number.
Preferably, the detection frequency of the 3-axis acceleration sensor is 25HZ, K is 8-15.
Preferably, two are used in the step S2 before acceleration change curve map is drawn out according to the data of selection
Secondary mean filter method is filtered to the data of selection.Using Mean square value filtering method, so as to get data it is more smooth,
Computation complexity is lower, and efficiency is faster.
Preferably, the data of 3-axis acceleration sensor report pattern to use fifo mode.
The beneficial effects of the invention are as follows：When people's motion state changes, switching at runtime calculates axle, it is ensured that each motion of people
Meter step accuracy under state.
Brief description of the drawings
Fig. 1 is a kind of workflow diagram of the present invention.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment：A kind of switching at runtime based on 3-axis acceleration sensor of the present embodiment calculates the step-recording method of axle,
3-axis acceleration sensor is arranged in footwear and X-axis positive direction is towards shoe body front, as shown in figure 1, comprising the following steps：
S1：The detection data of microcomputer reads 3-axis acceleration sensor output, select corresponding according to human motion state
Data are handled, and human motion state is initially set to away line state, when human motion state is to walk line state or shape of jogging
During state, only selection X-axis acceleration information is handled, and when human motion state is quick race state, only selection XYZ tri- axles are closed
Acceleration information is handled；
S2：Microprocessor is drawn out in acceleration change curve map, detection acceleration change curve map according to the data of selection
Crest, when the corresponding acceleration magnitude of some crest is less than or equal to 1.5g, the crest is removed, when between two neighboring crest
Sampled point when being less than setting value 10, the minimum crest of acceleration magnitude in the two crests is removed, crest corresponding time point
At the time of landing for pin；
S3：Crest number A of the microprocessor in acceleration change curve map calculates current pedometer B, and B=（A-1）×
2, when step number B is less than 6, caching step number B numerical value, microprocessor does not export step number B numerical value, when step number B is more than or equal to 6
When, microprocessor exports step number B numerical value and preservation；
S4：Microprocessor judges the motion state of current human and is configured, and judges current human's motion state and is set
The method put comprises the following steps：The sampled point number D between the first two crest of a newest crest is counted, as 10≤D ＜
18 and the previous crest acceleration magnitude of newest crest when being more than 5g, judge that human body is in quick race state, human body is transported
Dynamic state is set to quick race state；As 18≤D≤25, judge that human body is in state of jogging, human motion state is set
For the state of jogging；As 25 ＜ D≤80, judge that human body is in away line state, human motion state is set to away line state.
All there is not new ripple in continuous 80 sampled points after last crest in acceleration change curve map
During peak, microprocessor terminates this meter step, and acceleration change curve map is reset, if now step number B is more than or equal to 6, meter
Calculate total step number C=B+2 of this meter step.
3-axis acceleration sensor is using this sensor of LIS3DH come for example, LIS3DH sensors set sample rate
For 25Hz, collection calculating axle be X, Y and Z, acceleration range be set to positive and negative 8g and data report pattern to be fifo mode
Deng.Consider for power saving, sensor will enter low-power consumption mode under not working condition.Under this low-power consumption mode scene also
It can be waken up, here the main method waken up using interrupting movement, be exactly when the axle resultant accelerations of XYZ tri- exceed certain threshold value
（Such as 250mg）When, sensor reenters mode of operation.
The 3-axis acceleration sensor of this method is arranged in shoe body, the X-axis positive direction direction of 3-axis acceleration sensor
In front of shoe body, Y-axis positive direction towards on the left of shoe body, Z axis positive direction straight up, by detecting that the motion conditions of human body list pin are entered
Row meter step.Mean square value filtering method is used in step S2 before acceleration change curve map is drawn out according to the data of selection
Data to selection are filtered.Using Mean square value filtering method, so as to get data it is more smooth, computation complexity is more
Low, efficiency is faster.
This method judges crest according to the maximum of change curve in acceleration change curve map, when acceleration exceedes
During 1.5g, you can inside the Rule of judgment for entering crest, while spurious peaks can be also introduced, the limit walked or run due to people
Frequency can be evaluated whether out, and the spacing between crest will not be less than 10 sampled points, so when the spacing between two crests is small
When 10, you can according to crest value size, larger value is chosen as the crest of a meter step, i.e. the larger crest of numerical value is true
Crest, the less crest of numerical value is spurious peaks.
There is primary wave due to only being set on a shoes on 3-axis acceleration sensor, acceleration change curve map
Peak, people or so pin has respectively walked a step, so, crest and the relation that step number is 1 to 2, i.e., one crest correspondence are walked 2 steps.Due to
There are spurious peaks, so last crest is it cannot be determined whether be true crest, this method is in one crest of newest appearance,
Whether be true crest, so this method meter step has the delayed of crest if calculating previous crest.
Before this method is according to the sampled point number D and a newest crest between the first two crest of a newest crest
One crest acceleration magnitude judges the current motion state of human body.When human body be in away line state or jog state when, X-axis, Y
Axle, Z axis detection data it is more accurate, using the axle resultant accelerations of XYZ tri- data carry out meter step；When human body is in quick race state
When, human body advances at utmost speed forward, and the pin of people is in Y-axis, the motion amplitude very little of Z-direction, and prohibited data detection is true, therefore,
The data for only choosing X-axis acceleration carry out meter step, it is ensured that the accuracy of meter step.
Caching step number, which is used primarily in, to be determined when to initially enter meter step state, in order to avoid some are disturbed, such as times of pin
Meaning is rocked, and caching step number is devised here meter step mode, microprocessor output are exactly initially entered when step number is more than 5 step
Step number B numerical value is to modules such as display screens, and the step number produced below will be added up, then first temporary when 5 step is not reaching to
When cache these step numbers.
When continuous 80 sampled points all new crest do not occur after last crest, judge that human body stops fortune
It is dynamic, terminate meter step, total step number adds 2, i.e., last delayed crest is converted into step number adds total step number.
Claims (6)
1. a kind of switching at runtime based on 3-axis acceleration sensor calculates the step-recording method of axle, 3-axis acceleration sensor is set
In footwear and X-axis positive direction is towards in front of shoe body, it is characterised in that comprise the following steps：
S1：The detection data of microcomputer reads 3-axis acceleration sensor output, select corresponding according to human motion state
Data are handled, and human motion state is initially set to away line state, when human motion state is to walk line state or shape of jogging
During state, only the selection axle resultant acceleration data of XYZ tri- are handled, when human motion state is quick race state, only selection X-axis
Acceleration information is handled；
S2：Microprocessor is drawn out in acceleration change curve map, detection acceleration change curve map according to the data of selection
Crest, when the corresponding acceleration magnitude of some crest is less than or equal to setting value F, the crest is removed, when two neighboring crest
Between sampled point when being less than setting value K, the minimum crest of acceleration magnitude in the two crests is removed, the crest corresponding time
At the time of point is pin landing；
S3：Crest number A of the microprocessor in acceleration change curve map calculates current pedometer B, and B=（A-1）×
2；
S4：Microprocessor judges the motion state of current human and is configured, and judges current human's motion state and is set
The method put comprises the following steps：The sampled point number D between the first two crest of a newest crest is counted, as a1≤D ＜
When the previous crest acceleration magnitude of a2 and a newest crest is more than M, judge that human body is in quick race state, by human motion
State is set to quick race state；As a2≤D≤a3, judge that human body is in state of jogging, human motion state is set to
Jog state；As a3 ＜ D≤a4, judge that human body is in away line state, human motion state is set to away line state, a1 ＜
A2 ＜ a3 ＜ a4.
2. a kind of switching at runtime based on 3-axis acceleration sensor according to claim 1 calculates the step-recording method of axle,
Characterized in that, the step S3 is further comprising the steps of：When step number B is less than c, caching step number B numerical value, microprocessor is not
Step number B numerical value is exported, when step number B is more than or equal to c, microprocessor output step number B numerical value.
3. a kind of switching at runtime based on 3-axis acceleration sensor according to claim 1 calculates the step-recording method of axle,
Characterized in that, further comprising the steps of：Continuous d sampled point after last crest in acceleration change curve map
When all there is not new crest, microprocessor terminates this meter step, acceleration change curve map is reset, if now step number
B is more than or equal to c, calculates total step number C=B+2 of this meter step.
4. a kind of switching at runtime based on 3-axis acceleration sensor according to claim 1 or 2 or 3 calculates the meter step of axle
Method, it is characterised in that：The detection frequency of the 3-axis acceleration sensor is 25HZ, and K is 8-15.
5. a kind of switching at runtime based on 3-axis acceleration sensor according to claim 1 or 2 or 3 calculates the meter step of axle
Method, it is characterised in that：Two are used in the step S2 before acceleration change curve map is drawn out according to the data of selection
Secondary mean filter method is filtered to the data of selection.
6. a kind of switching at runtime based on 3-axis acceleration sensor according to claim 1 or 2 or 3 calculates the meter step of axle
Method, it is characterised in that：The data of 3-axis acceleration sensor report pattern to use fifo mode.
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| CN113378801A (en) * | 2021-08-11 | 2021-09-10 | 深圳市梦瑶科技有限公司 | Intelligent bracelet accurate step counting method based on neural network |
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| CN111238528A (en) * | 2020-03-20 | 2020-06-05 | 歌尔科技有限公司 | Step counting method and device, step counting equipment and readable storage medium |
| CN112099683A (en) * | 2020-09-03 | 2020-12-18 | 维沃移动通信有限公司 | Wallpaper display method and device and electronic equipment |
| CN112099683B (en) * | 2020-09-03 | 2022-06-28 | 维沃移动通信有限公司 | Wallpaper display method and device and electronic equipment |
| CN113340322A (en) * | 2021-06-25 | 2021-09-03 | 歌尔科技有限公司 | Step counting method and device, electronic equipment and readable storage medium |
| CN113378801A (en) * | 2021-08-11 | 2021-09-10 | 深圳市梦瑶科技有限公司 | Intelligent bracelet accurate step counting method based on neural network |
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