JP2011117945A - Walk measuring instrument, walk measurement method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a walk measuring instrument allowing a moving direction to be accurately measured even if right-and-left walking motion of a walking body is asymmetric, a walk measurement method, and a program. <P>SOLUTION: This walk measuring instrument includes: a detection means (Step S1) held by the walking body for detecting physical quantities on a moving direction; a correction means (S9 to S11) for correcting either a set of detection data acquired in a walking motion for taking a left step forward or a set of detection data acquired in a walking motion for taking a right step forward or both of them among detection data representing the physical quantities acquired through the detection of the detection means in such a manner as to eliminate differences in the detection data based on a difference in the size of the right-and-left walking motion; and a moving direction calculation means (S12 and S13) for calculating the moving direction of the walking body based on the detection data corrected by the correction means. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a walking measurement device, a walking measurement method, and a program for measuring at least a moving direction of a walking body.

  2. Description of the Related Art Conventionally, a measuring device has been developed that obtains the current position and moving path of a walking body by continuously measuring the amount and direction of movement by walking while being held by the walking body.

  As a technique related to the present invention, Patent Document 1 discloses an apparatus for measuring the traveling direction of a walking body using a three-axis geomagnetic sensor, a one-axis acceleration sensor, and a one-axis gyro. Also, cited document 2 discloses a device that obtains a stride by transmitting and receiving sound waves between left and right feet, and obtains a moving direction by measuring an azimuth using a geomagnetic sensor.

JP 2006-08312 A JP 2000-046578 A

  The walking body does not always move in a posture in which the traveling direction is directed, and the body moves forward and backward while walking, and proceeds while twisting a small amount counterclockwise or clockwise. Therefore, if the front direction of the walking body is continuously measured throughout the walking period, the measurement result in the front direction of the walking body fluctuates up and down and left and right even when the walking body travels linearly. Therefore, when obtaining the moving direction of the walking body, for example, as shown in Patent Document 1, the measurement data in the front direction is averaged to remove the vertical and horizontal fluctuations based on the walking motion. There is a need.

  However, when the walking body is injured by an individual heel or one leg, the walking action of stepping on the left foot and the walking action of stepping on the right foot may not be symmetrical (referred to as right and left walking actions). is there. In such a case, if the moving direction is obtained by simply averaging the measurement data related to the front direction without distinguishing between the left and right walking movements, a certain error occurs in the obtained moving direction due to the asymmetry of the left and right walking movements. It will be. Since such errors are accumulated when the movement amount and the movement direction are continuously measured to obtain the current position and the movement route, it is preferable that the error be as small as possible.

  An object of the present invention is to provide a walking measurement device, a walking measurement method, and a program capable of accurately measuring a moving direction even if the walking motion of the left and right of a walking body has asymmetry.

In order to achieve the above object, the invention according to claim 1 is a walking measurement apparatus,
Detection means that is held by the walking body and detects a physical quantity related to the moving direction;
Among the detection data representing the physical quantity obtained by the detection of the detection means, either or both of detection data obtained in the walking motion of stepping on the left foot and detection data obtained in the walking motion of stepping on the right foot Correcting means for correcting the difference between the detection data based on the difference in the size of the left and right walking movements in a direction to balance the detection data;
A moving direction calculating means for calculating a moving direction of the walking body based on the detection data corrected by the correcting means;
It is characterized by having.

The invention according to claim 2 is the gait measuring device according to claim 1,
The detection means includes
It is an acceleration sensor that detects the acceleration in each of the three axes.
The physical quantity related to the moving direction is
The acceleration is in the horizontal direction of the walking body accompanying the walking motion.

The invention according to claim 3 is the walking measurement apparatus according to claim 1,
An acceleration sensor that is held by the walking body and detects acceleration accompanying walking motion;
A difference calculating means for calculating the difference between the walking motion of stepping on the left foot and the walking motion of stepping on the right foot based on the output of the acceleration sensor;
The correction means includes
The detection data representing the physical quantity is corrected based on the calculation result of the difference calculation means.

The invention according to claim 4 is the gait measuring device according to claim 3,
The difference calculating means includes
Obtain a time interval for each step based on the vertical acceleration detected by the acceleration sensor, and calculate the difference in size between the walking motion of stepping on the left foot and the walking motion of stepping on the right foot based on the difference in time interval It is characterized by.

The invention according to claim 5 is the gait measuring device according to claim 3,
The difference calculating means includes
The difference between the walking motion of stepping on the left foot and the walking motion of stepping on the right foot is calculated based on the magnitude of the horizontal acceleration detected by the acceleration sensor.

The invention described in claim 6 is the gait measuring device according to claim 2,
The moving direction calculation means includes
A regression line of detection data representing the horizontal acceleration of the walking body corrected by the correcting means is obtained, and the moving direction of the walking body is calculated based on the regression line.

The invention according to claim 7 is the walking measurement method,
An acceleration detection step for continuously detecting acceleration associated with the walking motion of the walking body;
A direction detecting step for continuously detecting a physical quantity related to the moving direction of the walking body;
A difference calculating step for calculating a difference in size between a walking motion of stepping on the left foot and a walking motion of stepping on the right foot based on the detection result of the acceleration detection step;
Among the physical quantity detection data obtained by the direction detection step, either or both of detection data obtained during a walking motion of stepping on the left foot and detection data obtained during a walking motion of stepping on the right foot, On the basis of the calculation result of the difference calculation step, a correction step for correcting the difference between the detection data based on the difference in the size of the left and right walking movements in a direction to balance,
A moving direction calculating step for calculating a moving direction of the walking body based on the detection data corrected by the correcting step;
It is characterized by including.

The invention described in claim 8
Detection data is respectively detected from an acceleration sensor that is continuously held by the walking body and detects acceleration accompanying walking motion, and a direction sensor that is held by the walking body and continuously detects a physical quantity related to the moving direction of the walking body. To the computer that receives and performs calculations,
A difference calculating function for calculating a difference in size between a walking action of stepping on the left foot and a walking action of stepping on the right foot based on the detection data of the acceleration sensor;
Of the physical quantity detection data obtained based on the output of the direction sensor, either or both of detection data obtained during a walking motion of stepping on the left foot and detection data obtained during a walking motion of stepping on the right foot , Based on the calculation result by the difference calculation function, a correction function for correcting in a direction to balance the difference between the detection data based on the difference in the size of the left and right walking movements;
A movement direction calculation function for calculating the movement direction of the walking body based on the detection data corrected by the correction function;
It is a program that realizes.

  According to the present invention, even when there is an asymmetry between the walking motion of stepping on the left foot and the walking motion of stepping on the right foot, the physical quantity detection data relating to the movement direction is corrected to the direction to remove the asymmetry and the movement direction is obtained. It is done. Therefore, there is an effect that an accurate measurement result in the moving direction can be obtained.

It is a block diagram which shows the whole navigation apparatus structure of embodiment of this invention. It is a graph which shows an example of the output of the triaxial acceleration sensor accompanying a walking motion. It is a graph which shows an example of the change pattern of the acceleration horizontal component of the walking body obtained from the output of a 3-axis acceleration sensor with the walking motion for one step which depresses the left foot. It is a graph which shows an example of the change pattern of the acceleration horizontal component of the walk body obtained from the output of a 3-axis acceleration sensor with the walk operation for one step which depresses the right foot. It is a graph which shows an example of the correction result of the data which shows the change pattern of the acceleration horizontal component of a walking body. It is a graph explaining the system which calculates a moving direction from the data which show the change pattern of the acceleration horizontal component of a walking body. It is a flowchart which shows the process sequence of the movement measurement process performed by the navigation apparatus of embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing the overall configuration of a navigation device that is an embodiment of the walking measurement device of the present invention.

  The navigation device 1 according to this embodiment continuously measures the movement amount and movement direction by walking while being held by a walking body, and by integrating these data, the current position is measured and moved by relative coordinates. It is a device that records the route.

  The navigation device 1 includes a CPU (Central Processing Unit) 10 that performs overall control of the device, a RAM (Random Access Memory) 11 that provides a working memory space to the CPU 10, a control program executed by the CPU 10, A ROM (Read Only Memory) 12 in which control data is stored, a triaxial geomagnetic sensor 13 and a triaxial acceleration sensor 14 as detection means, and a measured value of the movement amount and the movement direction are continuously input, and relative coordinates are used. An autonomous navigation control unit 15 for obtaining a current position and a moving route, a display unit 17 for displaying various information, a power source 18 for supplying an operating voltage of each unit, and the like are provided. In this embodiment, the CPU 10, the RAM 11, and the ROM 12 constitute a computer that executes a control program in the ROM 12.

  The triaxial geomagnetic sensor 13 detects the magnitude of geomagnetism in the three axial directions of the x axis, the y axis, and the z axis that intersect each other (for example, orthogonal). The triaxial geomagnetic sensor 13 is fixed in a predetermined orientation in the housing of the navigation apparatus 1, and which direction of the navigation apparatus 1 is directed to the geomagnetism based on the output of the triaxial geomagnetic sensor 13. Can be requested.

  The three-axis acceleration sensor 14 detects accelerations in the three-axis directions of x-axis, y-axis, and z-axis that intersect (for example, orthogonal to) each other. The triaxial acceleration sensor 14 is fixed in a predetermined direction in the housing of the navigation apparatus 1, and thereby, which direction of the navigation apparatus 1 is directed in the direction of gravity from the output of the triaxial acceleration sensor 14. It is possible. In addition, since the vertical motion of the walking body appears in the output of the triaxial acceleration sensor 14, it is possible to count the number of steps based on the output, and the change in acceleration in the horizontal direction before and after walking and also in the horizontal direction is also possible. Appears in the output of the 3-axis acceleration sensor. The walking body greatly accelerates forward and slightly to the left when stepping on the left foot, and greatly accelerates to the front and to the right when stepping on the right foot, and thus the changing acceleration appears in the horizontal component of the output of the triaxial acceleration sensor. Therefore, the moving direction of the walking body can be obtained from the change pattern of the horizontal component of the output of the triaxial acceleration sensor 14.

  The outputs of the triaxial geomagnetic sensor 13 and the triaxial acceleration sensor 14 are digitally converted at a predetermined sampling frequency and supplied to the CPU 10 respectively.

  The autonomous navigation control unit 15 is responsible for specific arithmetic processing and assists the arithmetic processing of the CPU 10. The autonomous navigation control unit 15 continuously receives data representing the movement amount and the movement direction from the CPU 10 and integrates the movement vectors representing the movement amount and the movement direction. By obtaining coordinate data and accumulating the coordinate data as time elapses, a list of coordinate data representing the movement path is constructed.

  The ROM 12 stores a movement measurement processing program for obtaining a movement amount and a movement direction based on the outputs of the triaxial geomagnetic sensor 13 and the triaxial acceleration sensor 14. In addition to being stored in the ROM 12, this program can be stored in a non-volatile memory such as a portable storage medium such as an optical disk or a flash memory, for example, which can be read by the CPU 10 via a data reader. is there. In addition, a form in which such a program is downloaded to the navigation apparatus 1 via a communication line using a carrier wave as a medium can be applied.

  The RAM 11 stores stride data representing a stride set for the user. The stride data is data for calculating the amount of movement by multiplying by the number of steps obtained based on the output of the triaxial acceleration sensor 14.

  Next, the movement measurement process executed in the navigation device 1 having the above configuration will be described.

  In FIG. 2, the graph showing the example of an output of the triaxial acceleration sensor 14 accompanying a walking motion is shown. In this figure, the solid graph line represents the acceleration in the x-axis direction, the dotted graph line represents the acceleration in the y-axis direction, and the broken graph line represents the acceleration in the z-axis direction. The output example in FIG. 2 is obtained with the x-axis in the vertical direction and the y-axis in the traveling direction. In addition, from the graph of FIG. 2, the value for a gravitational acceleration is offset and represented.

  As shown by the solid graph line in FIG. 2, during walking, a large acceleration change in the vertical direction, which indicates the landing or stepping of the foot, appears in the output of the triaxial acceleration sensor 14. A period of one step is represented by a period from the peak of the graph line to the next peak. The vertical direction can be identified by detecting gravitational acceleration. In addition, since the left and right feet should be stepped alternately, this causes a period of walking operation to step on one foot (indicated as “left” in FIG. 2) and a period of walking motion to step on the other foot (in FIG. 2). , “Right”).

  As indicated by the dotted graph line in FIG. 2, the output of the triaxial acceleration sensor 14 includes an acceleration output in the traveling direction in which peaks PL and PR occur in the middle of one step. The peak value of the acceleration in the traveling direction is a value reflecting the magnitude of one step of walking motion. In the example of FIG. 2, the peak PR of the one-step period of stepping the right foot is smaller than the peak PL of the one-step period of stepping the left foot. It can be recognized that is larger.

  The CPU 10 of the navigation device 1 counts the number of steps by identifying the peak of acceleration in the vertical direction based on the output of the three-axis acceleration sensor 14 as described above. Each time the number of steps is counted, the CPU 10 calculates that a movement amount of a preset stride length has occurred in the walking body.

  In addition, the CPU 10 of the navigation device 1 first identifies the peak of acceleration in the vertical direction and calculates the period for each step in order to calculate the difference in the magnitude of the left and right walking motions necessary for calculating the moving direction. calculate. Further, the acceleration direction in which the peak appears in the middle of the one-step period of the horizontal acceleration is recognized as the approximate traveling direction, and the acceleration peaks PL and PR in the traveling direction are extracted.

  When the traveling direction is in the middle of the three axes (x-axis, y-axis, z-axis) of the triaxial acceleration sensor 14, the output of each axis is multiplied by the rotation matrix, and the vertical direction, the traveling direction, An approximate acceleration output in the traveling direction may be obtained by converting the acceleration outputs in the left and right directions, and the peaks PL and PR may be extracted.

  The CPU 10 first calculates the difference between the left and right walking motions based on the output of the triaxial acceleration sensor 14. The difference in the magnitude of the walking motion is, for example, two elements, that is, the difference between the lengths of the left and right steps as the first element, and the peak value of the acceleration in the traveling direction in the left and right walking motion as the second element. From the difference between

  Specifically, a difference in the period length of each step (for example, ΔT = “− 5%”) is obtained from the acceleration data for two consecutive steps, and further, a difference in acceleration peaks PL and PR in the traveling direction (for example, Δa = “− 30%”) is multiplied by a predetermined weighting coefficient and added together (g1 × ΔT + g2 × Δa), and the walking motion by one foot and the walking motion by the other foot As a difference in size (for example, “−10%”).

  Note that the method of obtaining the difference in the size of the left and right walking motions is not limited to the above example, and further, the peak value of acceleration in the left and right direction, the half width of acceleration in two horizontal components (front and rear, left and right), etc. Using these parameters, a more accurate difference between the left and right walking motions may be obtained.

  3 and 4 are graphs showing a change pattern of the acceleration horizontal component of the walking body obtained from the output of the three-axis acceleration sensor 14 with the walking motion. FIG. 3 shows a walking motion in which the left foot is stepped on, and FIG. 4 shows a walking motion in which the right foot is stepped on.

  Since the gravitational acceleration is always included in the output of the triaxial acceleration sensor 14, the gravitational direction can be detected by taking the time average of the output, and based on this, the output of the triaxial acceleration sensor 14 is converted into a vertical component and a horizontal component. And can be separated. The horizontal components of the output of the triaxial acceleration sensor 14 are plotted in time series in the graphs of FIGS.

  During the walking motion, as shown in FIGS. 3 and 4, the acceleration of the pedestrian is greatly changed in the front-rear direction (y direction in FIGS. 3 and 4) as the body largely moves back and forth. Furthermore, when the upper body swings left and right or rolls left and right, the acceleration changes slightly in the left-right direction of the pedestrian (the z direction in FIGS. 3 and 4). Also, the left / right shaking and left / right rolling patterns of the walking motion of stepping on the left foot and the walking motion of stepping on the right foot are reversed left and right. Accordingly, the moving direction of the walking body can be calculated by extracting only the change in the longitudinal direction of the acceleration by removing the left and right shaking and rolling components.

  Here, if the left / right swing and left / right rolling are the same in the walking motion of stepping on the left foot and the walking motion of stepping on the right foot, the change pattern of the acceleration horizontal component accompanying the walking motion of the left foot (FIG. 3). ) And the regression line of the data that combines the acceleration horizontal component change pattern accompanying the walking motion of the right foot (Fig. 4), the anteroposterior direction of the pedestrian can be calculated, and thereby the traveling direction can be determined. .

  However, when the walking body is injured in the individual heel or one leg, there is a certain difference in the size of left / right shaking and left / right rolling. Therefore, in the navigation device 1 of this embodiment, the difference in the size of the left and right shaking and the right and left rolling is balanced against the data of the change pattern of the acceleration horizontal component obtained during the left and right walking motions. After correction, the traveling direction is obtained by obtaining the regression line as described above.

  FIG. 5 is a graph showing an example of the correction result of the data indicating the change pattern of the acceleration horizontal component of the walking body, and FIG. 6 is the movement direction calculated from the data indicating the change pattern of the acceleration horizontal component of the walking object. The graph explaining the system to do is shown.

  As described above, the CPU 10 calculates the difference between the left and right walking motions based on the output of the triaxial acceleration sensor 14. Then, data correction is performed on the change pattern of the acceleration horizontal component based on the calculation result. For example, if the calculation result that the walking motion of stepping on the left foot is 10% larger than the walking motion of stepping on the right foot is obtained from the acceleration measurement result of FIG. 2, the acceleration horizontal component obtained by the walking motion of stepping on the left foot of FIG. The change pattern data is corrected so as to be reduced by, for example, 10% around the origin. FIG. 5 shows corrected data that is reduced by 10%.

  Then, as shown in FIG. 6, a regression is performed to remove left / right shaking and left / right rolling components from the corrected left foot walking motion change pattern data and right foot walking motion change pattern data. The straight line Ls is calculated, and the traveling direction is obtained with the regression line Ls as the front-rear direction of the walking body. That is, it is determined which direction of the triaxial acceleration sensor 14 is the traveling direction.

  Further, the CPU 10 determines which direction of the triaxial geomagnetic sensor 13 is the direction of magnetic north based on the output of the triaxial geomagnetic sensor 13, and which direction is the vertical direction based on the output of the triaxial acceleration sensor 14. Can be requested. The direction of the regression line Ls previously obtained from these pieces of information can be represented by the azimuth. CPU10 performs such a calculation and calculates | requires the advancing direction of a walking body as a bearing.

  In the movement measurement process, the CPU 10 repeatedly executes the above calculation, obtains the movement amount and the movement direction for each one-step walking motion, and supplies the information to the autonomous navigation control unit 15. Then, the movement vector represented by the movement amount and the movement direction is integrated in the autonomous navigation control unit 15 to obtain the current position and the movement route by relative coordinates.

  FIG. 7 is a flowchart showing the procedure of the movement measurement process executed by the CPU 10. Next, a detailed control procedure of the movement measurement process will be described.

  The movement measurement process is started when the navigation device 1 shifts to the positioning mode. When the movement measurement process is started, first, the CPU 10 takes the sampling data from the triaxial geomagnetic sensor 13 and the triaxial acceleration sensor 14 until it can be counted as one step by the loop process of steps S1 to S3. Minute data is stored in the RAM 11 (steps S1, S2: direction detection step, acceleration detection step). Then, it is determined whether or not a peak indicating the landing of the foot has been detected from the acceleration data in the vertical direction (step S3), and if this peak is detected, it is determined that it is the step count timing and the process proceeds to the next step.

  Next, when shifting, it is checked whether or not there is a previous step count in order to perform a branching process only at the time of the first step count (step S4). If the previous step count is not yet determined, it is recognized that the current step count is the first one, and the sampling data of the triaxial geomagnetic sensor 13 obtained by the loop processing of the previous steps S1 to S3 is obtained for the previous step. Is stored in another area of the RAM 11 (step S5), and the sampling data of the triaxial acceleration sensor 14 is stored in the other area of the RAM 11 as 3-axis acceleration data for the previous step (step S6). And it returns to step S1 again.

  On the other hand, if it is determined in step S4 that the previous step count has already been determined, the horizontal component of acceleration is separated from the sampling data of the three-axis acceleration sensor 14 for one step this time, as shown in the graph of FIG. The data is expanded (step S7). Subsequently, the horizontal component of acceleration is separated from the sampling data of the triaxial acceleration sensor 14 for the previous step stored in another area of the RAM 11 and developed into data as shown in the graph of FIG. 4 (step S8). .

  Subsequently, the CPU 10 calculates the difference in the period length of each step (peak to peak time length) from the acceleration data in the vertical direction (for example, the x-axis direction) among the acceleration data for the current step and the previous step (step to peak time length). S9: Difference calculation step).

  Further, the CPU 10 determines the sway component of the walking body (for example, acceleration peaks PL and PR of the traveling direction from the acceleration data in the horizontal direction (for example, the y-axis direction and the z-axis direction) of the acceleration data for the current step and the previous step. Value etc.) is extracted as a difference in the magnitude of the walking motion (step S10: difference calculation step).

  Then, a predetermined calculation process is performed from the values obtained in steps S9 and S10 to calculate the difference in the walking motion for the previous step and the current step, and based on the difference in the walking motion. The data of the change pattern of the acceleration horizontal component developed in step S7 and step S8 is corrected in a direction to balance the difference in the amount of change based on the difference in the magnitude of the walking motion. For example, as described above with reference to FIGS. 3 and 5, the data having the larger walking motion (see FIG. 3) is corrected to the data (see FIG. 5) reduced by the larger amount (step S11: correction). Step).

  Next, a regression line is obtained from the data corrected in step S11 so that the left and right shaking and the left and right rolling components are averaged and removed (step S12). The direction of the regression line and the magnetic north direction indicated by the orientation vector The direction of travel is expressed in terms of direction and the data of the direction of travel is sent to the autonomous navigation control unit 15 (step S13). These steps S12 and S13 constitute a moving direction calculation step.

  Furthermore, since the step count is incremented once based on the preset stride data, the CPU 10 calculates the stride × one step travel amount and sends the travel amount data to the autonomous navigation control unit 15. (Step S14).

  Then, the azimuth and acceleration data for one step this time are stored in another area of the RAM 11 as azimuth and acceleration data for the previous step (step S15), and the process returns to step S1 again. Then, the processing from step S1 is repeated again.

  With such a movement measurement process, each time the walking body advances one step, the process proceeds to the process after step S7, and the movement direction and the movement amount are obtained. In addition, asymmetry of the left and right walking motions is detected by the processing of steps S9 to S11, and correction processing for eliminating this asymmetry is performed, whereby an accurate movement direction is obtained.

  As described above, according to the navigation device 1 of the present embodiment, the acceleration horizontal component change pattern data in which the fluctuation amount representing the moving direction is added with the fluctuation amount of the left / right body shake or the left / right rolling component is added. Thus, the correction is performed in a direction that balances the difference in the data of the change pattern based on the difference in the size of the left and right walking movements, and then the movement direction is obtained from the data of the change pattern. Therefore, even if the walking body is biased in the left and right walking motion, it is possible to obtain a moving direction with less error that is biased to one side.

  Further, according to the navigation device 1 of this embodiment, since the movement direction is calculated based on the change pattern of the acceleration horizontal component of the walking body based on the output of the triaxial acceleration sensor 14, the navigation device 1 is The moving direction can be obtained in the same manner regardless of the orientation of the walking body.

  Further, by obtaining a regression line from the change pattern data of the acceleration horizontal component, it is possible to calculate the moving direction in which the amount of change in the left and right shaking and the left and right rolling components is averaged and removed. .

  Also, according to the navigation device 1 of this embodiment, the difference in the magnitude of the left and right walking motions is calculated based on the output of the triaxial acceleration sensor 14, and this is used for the correction processing of the acceleration horizontal component change pattern data. Because it is used, it is possible to more accurately find and correct the asymmetry of the left and right walking movements that are straight ahead but have different left and right swinging and left and right rolling movements It has become.

  Specifically, the time length required for each step from the output of the three-axis acceleration sensor 14 and the magnitude of the horizontal acceleration for each step are obtained, and the difference in the magnitude of the left and right walking motions based on these differences Therefore, it is possible to more accurately determine the asymmetry of the left and right walking motions in which the left and right swings and the left and right rolling motions are different in magnitude while traveling straight.

  The present invention is not limited to the above-described embodiment, and various modifications can be made. For example, in the above-described embodiment, the example in which the difference between the left and right walking motions is calculated from the acceleration data has been described. However, the difference between the left and right walking motions may be obtained using various motion sensors. good. For example, an output pattern representing the asymmetry of the left and right walking motions may be recognized using an azimuth sensor or a gyro sensor, and this may be calculated as a difference in the size of the left and right walking motions.

  Further, in the above embodiment, an example of performing correction for balancing left and right asymmetry by reducing or expanding data representing a change pattern of the acceleration horizontal component according to the difference in the magnitude of the left and right walking motions. However, for example, correction for balancing the left-right asymmetry can be performed by adding plot points or thinning out the graphs in FIGS. 3 and 4. Also, the plot points in the graphs of FIGS. 3 and 4 may be weighted, and correction may be performed so that the left and right asymmetry is balanced by the weight value. The weighting of plot points can be obtained by multiplying an item in which the data value of each plot point appears as a coefficient in an arithmetic expression for obtaining a regression line, thereby obtaining a corrected regression line.

  In the above embodiment, the horizontal component of the output of the three-axis acceleration sensor is used as a physical quantity related to the moving direction, and the configuration in which the traveling direction of the walking body is obtained from the change pattern of the acceleration horizontal component is employed. If it is guaranteed that the device is mounted in a certain direction, the orientation of the front of the device is measured by a biaxial geomagnetic sensor as a physical quantity related to the moving direction, and this is obtained as the traveling direction of the walking body It is also good. In this case, due to the asymmetry of the left and right walking motion, an asymmetric left and right blur is added to the azimuth data on the front of the device. This blur is corrected based on the difference in the size of the left and right walking motion. As a result, the error due to the asymmetry of the left and right walking motions can be reduced, and an accurate movement direction can be obtained.

  In the above embodiment, the difference between the left and right walking motions and the direction of movement are obtained using the data of the previous and current two steps. For example, with the left walking motion, Using the data for multiple steps obtained and the data for multiple steps obtained with the right walking motion, the difference in the size of the left and right walking motions is calculated, and the direction of movement is calculated. Anyway.

  In addition, the details shown in the embodiments can be changed as appropriate without departing from the spirit of the invention.

1 navigation device 10 CPU (difference calculating means, correcting means, moving direction calculating means)
11 RAM
12 ROM
13 3-axis geomagnetic sensor 14 3-axis acceleration sensor

Claims (8)

Detection means that is held by the walking body and detects a physical quantity related to the moving direction;
Among the detection data representing the physical quantity obtained by the detection of the detection means, either or both of detection data obtained in the walking motion of stepping on the left foot and detection data obtained in the walking motion of stepping on the right foot Correcting means for correcting the difference between the detection data based on the difference in the size of the left and right walking movements in a direction to balance the detection data;
A moving direction calculating means for calculating a moving direction of the walking body based on the detection data corrected by the correcting means;
A gait measuring device comprising: The detection means includes
It is an acceleration sensor that detects the acceleration in each of the three axes.
The physical quantity related to the moving direction is
The walking measurement apparatus according to claim 1, wherein the walking measurement apparatus is an acceleration in a horizontal direction of the walking body accompanying a walking motion. An acceleration sensor that is held by the walking body and detects acceleration accompanying walking motion;
A difference calculating means for calculating the difference between the walking motion of stepping on the left foot and the walking motion of stepping on the right foot based on the output of the acceleration sensor;
The correction means includes
The walking measurement apparatus according to claim 1, wherein detection data representing the physical quantity is corrected based on a calculation result of the difference calculation unit. The difference calculating means includes
Obtain a time interval for each step based on the vertical acceleration detected by the acceleration sensor, and calculate the difference in size between the walking motion of stepping on the left foot and the walking motion of stepping on the right foot based on the difference in time interval The walking measurement device according to claim 3, wherein: The difference calculating means includes
4. The walking measurement apparatus according to claim 3, wherein a difference in magnitude between a walking motion of stepping on the left foot and a walking motion of stepping on the right foot is calculated based on a magnitude of horizontal acceleration detected by the acceleration sensor. The moving direction calculation means includes
3. The moving direction of the walking body is calculated based on a regression line of detection data representing the horizontal acceleration of the walking body corrected by the correcting means. Gait measuring device. An acceleration detection step for continuously detecting acceleration associated with the walking motion of the walking body;
A direction detecting step for continuously detecting a physical quantity related to the moving direction of the walking body;
A difference calculating step for calculating a difference in size between a walking motion of stepping on the left foot and a walking motion of stepping on the right foot based on the detection result of the acceleration detection step;
Among the physical quantity detection data obtained by the direction detection step, either or both of detection data obtained during a walking motion of stepping on the left foot and detection data obtained during a walking motion of stepping on the right foot, On the basis of the calculation result of the difference calculation step, a correction step for correcting the difference between the detection data based on the difference in the size of the left and right walking movements in a direction to balance,
A moving direction calculating step for calculating a moving direction of the walking body based on the detection data corrected by the correcting step;
A gait measurement method comprising: Detection data is respectively detected from an acceleration sensor that is continuously held by the walking body and detects acceleration accompanying walking motion, and a direction sensor that is held by the walking body and continuously detects a physical quantity related to the moving direction of the walking body. To the computer that receives and performs calculations,
A difference calculating function for calculating a difference in size between a walking action of stepping on the left foot and a walking action of stepping on the right foot based on the detection data of the acceleration sensor;
Of the physical quantity detection data obtained based on the output of the direction sensor, either or both of detection data obtained during a walking motion of stepping on the left foot and detection data obtained during a walking motion of stepping on the right foot , Based on the calculation result by the difference calculation function, a correction function for correcting in a direction to balance the difference between the detection data based on the difference in the size of the left and right walking movements;
A movement direction calculation function for calculating the movement direction of the walking body based on the detection data corrected by the correction function;
A program that realizes

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