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    • 专利摘要:
    The present invention relates to a method for estimating the movement of a pedestrian (1) in operation, the method being characterized in that it comprises steps of: (a) Acquisition by inertial measuring means (20) integral with a lower limb (10) of said pedestrian (1) and arranged to have substantially a rotational movement with respect to a distal end (11) of said lower limb (10), an acceleration and an angular velocity of said lower limb (10); (b) Estimation by data processing means (21, 31, 41) of a speed of said lower limb (10) as a function of said measured acceleration and angular velocity. (c) determining a time interval of said walking of the pedestrian (1) during which said distal end (11) of said lower limb (10) is in contact with the ground as a function of the measured acceleration, the measured angular velocity, and a lever arm between the inertial measurement means (20) and said distal end (11); (d) in said determined time interval: calculating an expected speed as a function of said measured angular velocity and said lever arm; ○ Correction of the estimated speed according to the expected speed; (e) Estimation of pedestrian movement (1) as a function of the estimated speed.
    公开号:FR3042266A1
    申请号:FR1559591
    申请日:2015-10-08
    公开日:2017-04-14
    发明作者:David Vissiere；Mathieu Hillion；Eric Dorveaux；Augustin Jouy；Marc Grelet
    申请人:Sysnav SAS；
    IPC主号:
    专利说明:

    GENERAL TECHNICAL FIELD
    The present invention relates to the field of navigation without GPS.
    More specifically, it relates to a method of estimating the movement of a walking pedestrian by magneto-inertial techniques.
    STATE OF THE ART
    It is now common for a pedestrian to follow his position by GPS or by using a communication network (triangulation using transmitting terminals, WiFi network or others). It is possible to associate other sensors to improve positioning for example barometric sensors, magnetic field, image, radar, etc.
    These methods are very limited because they do not work indoors, in tunnels, or too far from transmitters, and are dependent on external technologies such as satellites for GPS that may be unavailable or even deliberately scrambled.
    Alternatively, "autonomous" methods are also known for tracking in any environment the relative displacement of a heavy vehicle such as a fighter or line plane, a submarine, a ship, etc., thanks to an inertial or magneto-inertial unit. Relative displacement means the trajectory of the vehicle in space with respect to a point and a reference given at initialization. In addition to the trajectory, these methods also make it possible to obtain the orientation of the vehicle with respect to the same initial mark.
    An inertial unit consists of at least three accelerometers and three gyrometers arranged triaxially. Typically, the gyrometers "maintain" a reference, in which a double temporal integration of the accelerometer measurements makes it possible to estimate the movement.
    It is well known that in order to use conventional inertial navigation methods, such as implemented in heavy applications such as navigation of fighter or line aircraft, submarines, ships, etc., it is necessary to use sensors of very high precision. Indeed, the double temporal integration of an acceleration measurement makes a constant acceleration error create a position error which increases proportionally to the square of time.
    And these high precision sensors are too heavy, too bulky and too expensive to be carried by a pedestrian.
    To be able to estimate a trajectory with light and low cost inertial sensors such as those used in mobile phones, for example, different methods must be implemented that do not require the integration of inertial sensors over long time periods.
    A first widespread method is to count the steps taken. The detection of each step is carried out by identifying a characteristic pattern of a step in the inertial measurements. An estimate of the direction of the gait is obtained separately from the speed or the distance, for example by moving towards the magnetic terrestrial north by means of sensors sensitive to the magnetic field. In many places, strong magnetic disturbances make the determination of the Earth's magnetic course imprecise. These disturbances are particularly frequent inside buildings because of the presence of magnetic materials for example in furniture, walls, electrical installations and various objects, etc.
    For this reason, complementary methods have been proposed to orientate themselves despite these disturbances. Moreover, it is common to associate an attitude filter for example of the extended Kalman type to combine the magnetic field and inertial measurements. This makes it possible to improve the precision of the orientation and in particular of the heading.
    After each step, the estimated position of the carrier is updated by moving the estimated length by one step in the direction of the estimated march from the heading calculated by the inertial unit.
    This method was used by attaching the inertial unit to various locations on an individual, for example at the foot, waist, pocket, wrist, hand, eyeglasses, frontal, etc.
    The performance obtained is limited by the inaccurate estimation of the length of the step and the difference between heading and direction of the march. This estimation can be improved by means of a harmonization of the marks and by connecting by a model the length and the frequency of the steps. Nevertheless, a significant uncertainty remains because, on the one hand, a pedestrian is never exactly exactly two steps in length, and on the other hand, a pedestrian performs different types of steps with non-distinguishable variable length steps; gives today satisfaction.
    A second method consists of integrating acceleration and angular velocity measurements over very short periods of time to determine the trajectory of the inertial unit and thus of the plant carrier. This method does not require an estimate of the step length but is limited by the accumulation of the integration errors that have already been mentioned. For MEMS type sensors, this results in an error of the same order of magnitude as the length of a step after a few seconds.
    A proposed solution in the literature (Foxlin, E., 2005) consists in resetting the calculated speed when we know that it is zero, a method often called ZUPT (Zero Velocity UPDATE). The foot in particular has zero velocity in contact with the ground. So by placing the inertial unit on the shoe and detecting the phase where the foot is in contact with the ground, it is possible to reset the speed to zero. The integration of the acceleration is then necessary only during the phase where the foot is in the air, phase which lasts approximately one second. As soon as the foot is on the ground the speed is known, equal to zero.
    In order to improve this method, it is possible to use an estimation filter for example of Kalman, a nonlinear filter or any other filter to combine the information of the different sensors. This filter may for example include a state with 6 degrees of freedom for speed and attitude. Other states can be added eg position, sensor bias, etc. The filter also gives a measure of the uncertainty of the estimated states with a covariance matrix. This makes it easy to combine additional sensor measurements for which an uncertainty estimate is also available. And it can be absolute or relative position measurements.
    During the phase of ZUPT, the update of the states of the filter is progressive and eventually corrects all the states and not only the speed.
    The ZUPT method thus makes it possible to improve the quality of the motion estimation, but proves to pose a certain number of additional problems due to the impractical position of the sensor on the foot. This makes it very sensitive to shocks (to be adjusted depending on type of sole), uncomfortable and uncomfortable because it must be integrated into the shoe. In addition, the course is difficult to determine near the ground with the presence of parasitic magnetic fields and the shoe itself is often made of magnetic materials. Finally, there is the problem of the race, for which the phase during which the foot is immobile on the ground is very reduced, or even zero, which prevents the correction of the states of the filter.
    It would be desirable to have a new method of estimating pedestrian movement that is of higher quality than current methods and is not burdensome.
    PRESENTATION OF THE INVENTION
    The present invention thus relates in a first aspect to a method for estimating the movement of a walking pedestrian, the method being characterized in that it comprises steps of: (a) Acquisition by integral inertial measuring means a lower limb of said pedestrian and arranged to have substantially rotational movement with respect to a distal end of said lower limb, an acceleration and an angular velocity of said lower limb; (b) Estimation by data processing means of a speed of said lower limb as a function of said measured acceleration and angular velocity. (c) determining by the data processing means a time interval of said pedestrian walk during which said distal end of said lower limb is in contact with the ground as a function of the measured acceleration, the measured angular velocity, and a lever arm between the inertial measurement means and said distal end; (d) In said determined time interval: Calculation by the data processing means of an expected speed of said lower limb as a function of said measured angular velocity and said lever arm; o Correction of the estimated speed and / or orientation of said lower limb as a function of the expected speed; (e) Estimation by the data processing means of pedestrian movement as a function of the estimated speed of said lower limb.
    According to other advantageous and nonlimiting characteristics: the speed of said lower limb is estimated by integrating the measured acceleration expressed in the terrestrial reference as a function of the measured angular velocity, and the movement of said lower limb is estimated by integration of the estimated speed; Said expected speed is given by the formula
    where ω is the measured angular velocity and r is the lever arm; Said inertial measurement means are disposed on said lower limb between an ankle and a knee; Step (c) comprises the calculation by the data processing means of an expected acceleration as a function of said measured angular velocity and the lever arm, said time interval of said pedestrian step during which said distal end of said member lower is in ground contact being determined according to the measured acceleration and said expected acceleration; Said time interval of said pedestrian walk during which said distal end of said lower limb is in contact with the ground is determined in step (c) as that during which a difference between the measured acceleration and the expected acceleration is less than a predetermined threshold; • said expected acceleration is given by the formula
    where ω is the measured angular velocity, r is the lever arm, and g is the acceleration of gravity; Said time interval of said pedestrian step during which said distal end of said lower limb is in contact with the ground is determined in step (c) as that during which the acceleration and / or angular velocity measured correspond to a predetermined pattern representative of the contact of the extremity of the lower limb with the ground; The correction of an estimated speed of said lower limb in step (c) comprises the implementation of a linear or non-linear state estimator filter; The method comprises a preliminary step (aO) for determining said lever arm; The lever arm is determined by minimizing the difference between the measured acceleration and an expected acceleration according to said measured angular velocity and the lever arm, during a predetermined time interval of said pedestrian step during which said distal end said lower limb is in contact with the ground; Said lever arm determination comprises integrating the lever arm with the linear or nonlinear state estimator filter; The method comprises a subsequent step (f) of analysis by the data processing means of the estimated movement so as to identify a disorder of the walking of said pedestrian.
    According to a second aspect, the invention relates to an equipment for estimating the movement of a walking pedestrian, characterized in that it comprises data processing means configured to implement: a reception module of a acceleration and angular velocity of a lower limb of said pedestrian acquired by integral inertial measurement means of said lower limb and arranged to substantially rotate in relation to a distal end of said lower limb; A module for estimating a speed of said lower limb as a function of said acceleration and said measured angular velocity; A module for determining a time interval of said pedestrian step during which said distal end of said lower limb is in contact with the ground as a function of the measured acceleration, the measured angular velocity, and a lever arm between the inertial measurement means and said distal end; A calculation module in said determined time interval of an expected speed of said lower limb as a function of said measured angular velocity and said lever arm; A correction module in said time interval of the estimated speed of said lower limb as a function of the expected speed; - A module for estimating pedestrian movement as a function of the estimated speed of said lower limb.
    According to other advantageous and nonlimiting features: • The equipment is a housing comprising the inertial measurement means; • The equipment further comprises means for attaching the housing to the lower limb, a magnetometer, and communication means. • The equipment is a mobile terminal or a server, adapted to communicate with a housing including the inertial measurement means.
    According to a third aspect, the invention relates to a system comprising the equipment according to the second aspect of the invention and at least one box in connection.
    According to a fourth and fifth aspect, the invention relates to a computer program product comprising code instructions for executing a method of estimating the movement of a walking pedestrian according to the first aspect of the invention. ; and computer-readable storage means on which a computer program product comprises code instructions for performing a method of estimating the movement of a walking pedestrian according to the first aspect of the invention .
    PRESENTATION OF THE FIGURES Other features and advantages of the present invention will appear on reading the description which follows of a preferred embodiment. This description will be given with reference to the accompanying drawings in which: - Figure 1 is a diagram of equipment for carrying out the method according to the invention; FIG. 2 shows in greater detail an exemplary housing for implementing the method according to the invention; - Figures 3a-3b show schematically successive steps during a phase of contacting the foot with the ground; FIGS. 4a-4b show examples of results of estimation of the movement of a pedestrian obtained thanks to the implementation of the method according to the invention.
    DETAILED DESCRIPTION
    Architecture
    With reference to FIG. 1, the present method makes it possible to estimate the movement of a walking pedestrian 1. The pedestrian has at least one lower limb 10 (i.e. one leg) equipped with inertial measurement means 20. It will be understood that each of the two lower limbs 10 of the pedestrian 1 can be equipped with inertial measurement means 20.
    More precisely, the inertial measurement means 20 are integral with this lower limb 10, i.e. they present a substantially identical movement in the terrestrial reference, we will see how further. The inertial measurement means are more precisely disposed in the so-called crural region of the lower leg 10, that is to say the lower half which extends between an ankle 12 and a knee 13 of the pedestrian (included), and of generally any location having relative to a distal end 11 of the lower limb 10 (ie the heel of the foot) substantially only a rotational movement, that is to say due to a lever arm. Thus, when the heel of the foot 11 is placed, the means 20 can practically make only one rotation in the terrestrial reference, and not a translation. We will see further the interest of such positioning. To summarize, the means 20 are typically arranged at a pedestrian 1's tibia. The distance between the point of rotation of the distal end 11 and the means 20 is hereinafter referred to as the "lever arm". . And we denote by the vector representing this lever arm oriented from the end 11 to the means 20.
    The inertial measurement means 20 are preferably those of a housing 2 as shown in FIG. 2 having means 23 for attaching the lower limb 10. These fastening means 23 consist, for example, of a bracelet, for example with a hook-and-loop fastener which encloses the limb and allows the solidarity bond. As will be seen later, it is indeed desirable that the inertial measurement means 20 are arranged as close as possible to the knee 13, and can not move along the member 10.
    Inertial measurement means 20 means an inertial unit comprising at least three accelerometers and three gyrometers arranged triaxially. The gyrometers measure the instantaneous angular velocity of the inertial unit with respect to the terrestrial reference, noted ω. The accelerometers are sensitive to external forces other than gravitational applied to the sensor, and measure an acceleration noted y. As will be seen, the means 20 are advantageously accompanied by at least one magnetometer 24 so as to form means 20, 24 magneto-inertial measurement. The magnetometer 24 measures a field marked B. Such a magnetometer 24 is useful for indicating a pedestrian heading (i.e. a direction in a horizontal plane), especially at start since as explained the movement is relative. The magnetometer 24 is then no longer essential but can be used to readjust the heading that deviates due to the accumulation of errors related to angular velocity measurements.
    The housing 2 may comprise processing means 21 (typically a processor) for directly implementing in real time the processes of the present method, or the measurements may be transmitted via communication means 25 to an external device such as a mobile terminal (smartphone) 3, or even a remote server 4, or the measurements can be recorded in local data storage means 22 (a memory for example flash type) local memory for a post-processing for example on the server 4.
    The communication means 25 may implement short-range wireless communication, for example Bluetooth or Wifi (in particular in an embodiment with a mobile terminal 3) or even be means of connection to a mobile network (typically UMTS / LTE ) for long distance communication. It should be noted that the communication means 25 may be for example a wired connection (typically USB) for transferring the data of the local data storage means 22 to those of a mobile terminal 3 or a server 4.
    If it is a mobile terminal 3 (respectively a server 4) which hosts the "intelligence", it comprises processing means 31 (respectively 41) such as a processor for implementing the treatments of the present method which will to be described. When the processing means used are those of the housing 2, the latter may also include communication means 25 for transmitting the estimated position. For example, the position of the carrier can be sent to the mobile terminal 3 to display the position in an interface of a navigation software.
    In the following description, it will be seen that the data processing means 21, 31, 41 respectively of the housing 2, a smartphone 3 and a remote server 4 can indifferently and depending on the applications perform all or part of the steps of the process.
    Principle and notations
    In a first step (a), the method comprises the acquisition by the inertial measurement means 20 of the acceleration γ and the angular velocity ω of said lower limb 10. It will be noted that in the remainder of the description, when mention acceleration / speed / position of the lower limb 10 means at the level of the inertial measurement means 20, since points of the lower limb 10 located for example at the thigh will have a different movement.
    These quantities are advantageously measured with a sampling dt (i.e. every "dt" seconds) with dt very small in front of the time characteristic of the movements of the pedestrian 1, typically 40 ms. The orientation of the means 20 with respect to the terrestrial inertial reference system can be given for example by a rotation matrix (denoted R), a quaternion of attitude (denoted q), the attitude is synonymous with orientation in space or Euler angles (roll cp, pitch Θ, yaw ψ). These three representations are equivalent, so they are used interchangeably in this document. The speed and the position of the means 20 (and therefore of the lower limb 10) are denoted respectively v and d, and are respectively estimated by a simple and a double integration of the acceleration in the terrestrial reference, which as will be seen further is calculated from the measured γ acceleration (given in the mobile reference of the inertial measurement means 20) and the orientation of the means 20 relative to the terrestrial reference (updated from the angular velocity measurements) . The initialization of the attitude can be done for example from the acceleration measurements (and optionally measurements of a possible magnetometer 24) by considering that the member 10 and therefore the means 20 are immobile at startup and that the magnetic field is equal to the Earth's magnetic field. In this case the measured acceleration is equal to the opposite of the gravitational field γ = -g. We then roll and pitch with the following formulas:
    The magnetic heading can then be calculated from the magnetic field measurement with the formula:
    The formula giving the matrix of passage of the terrestrial reference to the reference system of the means 20 from the angles of Euler is:
    The speed and the position of the means 20 with respect to the terrestrial reference system are initialized to zero. The initial position can not be determined directly from measurements of accelerometers, gyrometers and magnetometers, it can be provided by another sensor (eg GPS) or indicated by the user. It is therefore known over time with the only inertial sensors (and possibly magnetic) the relative position of the device 2 (and therefore the pedestrian 1), defined with respect to the initial position.
    The terrestrial inertial reference frame will be designated by the index i and the reference system of the means 20 also called body by the index b. Thus the base change matrix of the terrestrial inertial reference to the central repository is denoted by Rj ^ b. We denote by Rn the estimate of this matrix after n no sample. The attitude is related to the angular velocity ω according to the differential equation on the passage matrix R ^. The coordinates of ω are expressed in the base of the inertial unit.
    Considering that the period of sampling noted dt is sufficiently small, it is possible, for example, to use a development at order 1 as an approximation:
    Ri-> b (t + dt) = Ri_> b (t) + Rj_, b (t) · dt
    This approximation can be used to update the estimate of the matrix Rn for each measure:
    To update the position and speed, the acceleration measurement is used. In particular, the method conventionally comprises a step (b) of estimating the speed as a function of said measured acceleration (in practice by integration) and a step (e) of estimating the movement as a function of the estimated speed (in practice also by integration).
    Thus, the acceleration of the means 20 with respect to the terrestrial reference is given by: at = Y + g
    And the approximation giving the speed according to the acceleration is:
    And the estimation of the speed is thus updated for each measurement according to: vn + i = vn + an dt
    The measurement of the accelerometer is known in the reference system means 20 body while the gravitational field is known in the terrestrial reference, the expression of the acceleration in the terrestrial reference is thus:
    So if we express the speed in the basis of the terrestrial reference, the update formula at the nth sample step is:
    And if one expresses the speed in the base of the repository of the central, the formula of update to the nth step of sample is:
    What becomes after substitutions and order 1 in dt:
    Finally the estimate of the position is updated according to:
    Preferably, with an extended Kalman filter (we will return to the above), the covariance matrix is updated by linearizing the preceding formulas around the current point.
    Floor standing condition
    The present method cleverly uses the "foot on the ground" condition on which the ZUPT method is based, but without the need to have the sensor on the foot.
    As seen in FIG. 3a, the black foot in contact with the ground has a zero velocity in the phase shown for steps 2 to 4. The inertial measurement means 20 were static when the foot was on the ground in the ZUPT method (and so we could reset the speed)
    Figure 3b shows this time a possible placement of the inertial measurement means 20 above the pin 12 during the heel / ground contact phase. In the case of the present method, the inertial measuring means 20 rotate, and therefore have an "expected speed" of the means 20 (i.e. of said lower limb 10) which will allow a registration. Said expected speed is a function of the measured angular velocity and said lever arm, in particular is calculated from the leg model in rotation around the fixed end 11 on the ground. It is then equal to the vector product between the instantaneous rotation vector ω and the vector r: v = ω Ar
    A difficulty with respect to the ZUPT method is to arrive at determining a time interval of said walking of the pedestrian 1 during which said distal end 11 of said lower limb 10 is in contact with the ground, and more exactly the moment when the model giving the speed is correct.
    For this, a step (c) makes it possible to determine this time interval of ground contact as a function of the acceleration measured, the measured angular velocity, and the lever arm assumed or estimated.
    In a first embodiment, this step (c) comprises the calculation by the data processing means 21, 31, 41 of an "expected acceleration" as a function of said measured angular velocity and the lever arm.
    Indeed, with the same model that assumes the means 20 rotating at the distance r (i.e. the length of the lever arm) of the fixed point 11, the theoretical acceleration is equal to:
    By adding the term due to the gravitational field, the expected acceleration measure is:
    This relationship provides a criterion for determining whether the lever arm model is correct, and step (c) includes determining the ground contact time interval as a function of the measured acceleration and said theoretical acceleration.
    More precisely, the valid model is considered when the difference between the expected measurement of the acceleration and the measurement made by the inertial measurement means 20 is zero:
    The gravity field is known in the terrestrial reference system while the measurements of the gyrometer and the accelerometer as well as r are known in the base of the inertial unit. To calculate the vector deviation, you have to make a base change. In order not to depend on the basic change matrix, we can compare the norms of the vectors
    The term
    λ r is usually small compared to other terms, so it is possible to avoid having to calculate the derivative of the angular velocity to neglect it. The formula of the gap is then simplified:
    This difference is in practice not exactly zero and the period during which it is less than a predetermined threshold, for example 10% of | g |, is selected. In other words, said time interval of said pedestrian walk 1 during which said distal end 11 of said lower limb 10 is in contact with the ground is determined in step (c) as that during which a difference between the measured acceleration and the theoretical acceleration is below this predetermined threshold.
    Alternatively, in a second embodiment, the contact phase with the ground can be roughly sought from a characteristic pattern on the signal of the sensors. The rotation of the leg during rocking or the impact when the foot touches the ground, for example, can make it possible to approximately determine said contact interval on the ground. For example, when the acceleration of an impact is detected, it can be decided that during a characteristic duration (for example a quarter of a second) following this detection the foot is on the ground.
    Alternatively, in a preliminary calibration phase, it is possible to measure the conventional values of acceleration and angular velocity corresponding to a contact of the foot on the ground, these conventional values (point or interval) constituting the reference pattern, and identifying the time intervals minimizing the difference between the measured values and this reference pattern.
    In any case, it is then possible to search in the said interval for the moment when the difference defined from the acceleration is minimum. In this way, the best time to perform the registration is identified. For example, an alternative method based on a predetermined pattern can be used to roughly identify the ground contact interval, and then minimize the difference between the measured acceleration and the expected acceleration within that range (ie, use the method principal described above).
    In said determined time interval (and preferentially at the identified point in this interval), a step (d) allows the resetting of the estimated speed.
    More specifically, is calculated by the data processing means 21, 31, 41 said expected speed of the lower limb 10 according to said measured angular velocity and said lever arm. In particular, as explained, it is equal to the vector product between the instantaneous rotation vector ω and the vector r: vat = A
    The estimated speed of said lower limb 10 is then corrected according to the expected speed.
    The difference between this expected speed and the estimated speed v obtained by successive integrations is used for the registration. It is quite possible to reset by simply replacing the value of the estimated speed by the expected speed, but preferably and as explained, a linear state estimator filter (Luenberger filter, Kalman filter, etc.) or not. -linear (extended Kalman filter, invariant observer, etc.) is used. In the present description, we will take the example of an extended Kalman filter, but the skilled person will be able to transpose to other filters.
    The Kalman Kn + 1 gain is calculated from the covariance matrix according to the formula of an extended Kalman filter. The errors due to sensors and approximations can be modeled as a Gaussian distribution noise. The variance is estimated by measuring the noise of the sensors at rest. The adjustment of the state estimate xn + ln containing the base change matrix, the speed and the position is done by adding the correction term:
    It should be noted that in practice the speed error also makes it possible to correct the orientation.
    When the foot leaves the ground contact, the attitude and the speed are again updated only from the measured values of the acceleration and the angular velocity provided by the means. the dual integration of the accelerometers are thus reset at each step.
    Calculating the lever arm
    Note that the length of the lever arm can be a constant input by the user (if necessary after measurement).
    But alternatively, we do not necessarily know the exact position of the housing 2 on the leg so r may not be known a priori. In this case, the method advantageously comprises a preliminary step (aO) for determining said lever arm. Moreover, it is noted that the housing 2 can move slightly along the lower limb 10, so the step (aO) can be implemented again (at regular intervals or on the instructions of the pedestrian 1) when walking to redetermine r .
    It is indeed possible to estimate the value of this vector either separately or by directly integrating r into the state of the Kalman filter. If it is assumed that the inertial measurement means 20 are mounted so that the z axis is aligned with the axis of the leg, the lever arm r can be considered aligned with the z axis and the x coordinates and there are zero:
    In particular, the vector product giving the speed becomes:
    By adding a rz field to the state of the extended Kalman filter, a rz reset is performed according to the speed error measured at each ground foot phase.
    Alternatively one can also estimate r directly when the foot is in contact with the ground. It has been explained that this phase can be determined, for example, from the shock experienced when the foot touches the ground, or it is a predetermined interval where the user knowingly places the foot in contact with the ground.
    During this phase, it has been explained that the measurement of the accelerometer is given by:
    We can thus look for the value of rz which minimizes the quantity on average:
    Finally, if we do not know the orientation of the inertial measurement means 20, we can add the three coordinates of the lever arm to the filter. The registration then concerns the three coordinates.
    The position of the means 20 on the lower limb 10 can also be estimated by the complementary use of other sensors when available, for example a GPS giving a speed and the orientation of the plant relative to the earth, the unknown then being the lever arm, or a vision system giving a speed and orientation. Depending on the accuracy of the information with respect to the exact speed at the sensor, a longer or shorter filtering time will be necessary. Results
    FIG. 4a represents an example of a trajectory obtained after integration of the measurements of a limp 2 carried above the ankle 12. The walk consists of a round trip in a street with a descent and then a climb of two staircases. The accelerometers and gyrometers used in the means 20 are precisely calibrated MEMS sensors. An extended Kalman filter was used with a resetting using the lever arm model when the foot is on the ground as previously described.
    There is no drift on a step of several hundred meters (pedestrian 1 returns exactly to the starting point) and the quality and accuracy of navigation.
    Figure 4b shows more precisely the descent and climbing of the stairs during the step illustrated in Figure 4a. We show here the height of the housing 2 as a function of the distance traveled. Each stride on the plate is recognizable distinctively, the ankle 12 rising about 18 cm in a curved trajectory. When descending the stairs between the distances marked 118 m and 125 m, we recognize each stride, foot 11 crossing two steps and a height of about 30 cm. Similarly between the marked distances of 128 m to 132 m, we recognize for each stride the crossing of two steps.
    Thus, even if we are in a very problematic environment for a magneto-inertial unit (up and down stairs, instead of staying on the plate), we see that the quality offered by the present process remains irreproachable.
    The latter is optimal for following the path of a pedestrian 1 in an area little or poorly covered by a GPS signal, inside buildings, in the basement, near high walls, in the forest, etc.
    As explained above, such a view showing for each step the elevation of the means 20 can easily detect gait disorders.
    Equipment and system
    According to a second aspect, the invention relates in particular to equipment 2, 3, 4 for the implementation of one or other of the embodiments of the method.
    As previously explained, according to a first embodiment the equipment is an autonomous housing 2 comprising the inertial measurement means 20 and the data processing means 21 configured for the implementation of the steps of the method.
    The casing 2 further comprises fastening means 23 of the casing 2 to the lower limb 10, and if necessary a magnetometer 24, data storage means 22 (for storing the measured angular accelerations / velocities or estimated movements) and / or communication means 25 for exporting the results.
    According to a second embodiment, the equipment is a mobile terminal 3 or a server 4, adapted to communicate with a housing 2 comprising the inertial measuring means 20. In other words, the terminal 3 or the server 4 comprises the processing means 31 or 41 configured for implementing the steps of the method. Each box 2 may still include data processing means 21 for controlling the means 20 and the transmission (via communication means 25) of the measured data to the data processing means 31,41.
    It should be noted that the means 21, 31, 41 may where appropriate share the process steps. For example, in the case of a medical application, the processing means 21 of the box 2 can carry out the steps up to (e), and a posteriori the means 41 of the server 4 implement the step (f) of analysis so as to identify a possible disturbance of the walking of said pedestrian 1. In this case, the invention also relates to the system comprising the equipment 3, 4 according to this embodiment and the "satellite" box 2 or boxes in connection
    In all cases, the data processing means 21, 31, 41 of the "main" equipment 2, 3, 4 are configured to implement: a module for receiving an acceleration and an angular velocity a lower limb 10 of said pedestrian 1 acquired by inertial measurement means 20 secured to said lower limb 10 and arranged to have substantially a rotational movement relative to a distal end 11 of said lower limb 10; A module for estimating a speed of said lower limb as a function of said acceleration and said measured angular velocity; A module for determining a time interval of said walking of the pedestrian 1 during which said distal end 11 of said lower limb 10 is in contact with the ground as a function of the measured acceleration, the measured angular velocity, and an arm lever between the inertial measurement means 20 and said distal end 11; - A calculation module in said determined time interval of an expected speed of said lower limb 10 according to said measured angular velocity and said lever arm; A correction module in said time interval of the estimated speed of said lower limb as a function of the expected speed; A module for estimating the movement of pedestrian 1 as a function of the estimated speed of said lower limb 10.
    Computer program product
    According to a third and a fourth aspect, the invention relates to a computer program product comprising code instructions for the execution (on the processing means 21, 31, 41) of a motion estimation method. a pedestrian 1 running according to the first aspect of the invention, and storage means readable by a computer equipment (eg data storage means 22) on which there is this computer program product.
    权利要求:
    Claims (19)
    [1" id="c-fr-0001]
    1. Method for estimating the movement of a pedestrian (1) in operation, the method being characterized in that it comprises steps of: (a) Acquisition by inertial measurement means (20) integral with a member lower (10) of said pedestrian (1) and arranged to have substantially rotational movement with respect to a distal end (11) of said lower limb (10), an acceleration and an angular velocity of said lower limb ( 10); (b) Estimation by data processing means (21, 31, 41) of a speed of said lower limb (10) as a function of said measured acceleration and angular velocity. (c) Determining by the data processing means (21, 31, 41) a time interval of said pedestrian walk (1) during which said distal end (11) of said lower limb (10) is in contact with the ground depending on the measured acceleration, the measured angular velocity, and a lever arm between the inertial measurement means (20) and said distal end (11); (d) in said determined time interval: calculating by the data processing means (21, 31, 41) an expected speed of said lower limb (10) according to said measured angular velocity and said lever arm; o Correction of the estimated speed of said lower limb (10) according to the expected speed; (e) Estimation by the data processing means (21, 31, 41) of the movement of the pedestrian (1) as a function of the estimated speed of said lower limb (10).
    [2" id="c-fr-0002]
    The method according to claim 1, wherein the speed of said lower limb (10) is estimated by integrating the measured acceleration expressed in the terrestrial frame as a function of the measured angular velocity, and the movement of said lower limb (10) is estimated by integration of the estimated speed.
    [3" id="c-fr-0003]
    3. Method according to one of claims 1 and 2, wherein said expected speed is given by the formula

    where ω is the measured angular velocity and r is the lever arm.
    [4" id="c-fr-0004]
    4. Method according to one of claims 1 to 3, wherein said inertial measurement means (20) are disposed on said lower member (10) between an ankle (12) and a knee (13).
    [5" id="c-fr-0005]
    5. Method according to one of claims 1 to 4, wherein step (c) comprises the calculation by the data processing means (21, 31, 41) of an expected acceleration as a function of said measured angular velocity. and the lever arm, said time interval of said pedestrian step (1) during which said distal end (11) of said lower limb (10) is in contact with the ground being determined according to the measured acceleration and said acceleration expected .
    [6" id="c-fr-0006]
    The method of claim 5, wherein said time interval of said pedestrian walk (1) during which said distal end (11) of said lower limb (10) is in contact with the ground is determined in step (c) as the one during which a difference between the measured acceleration and the expected acceleration is less than a predetermined threshold.
    [7" id="c-fr-0007]
    7. Method according to one of claims 5 and 6, wherein said expected acceleration is given by the formula

    where ω is the measured angular velocity, r the lever arm, and g the gravitational acceleration.
    [8" id="c-fr-0008]
    The method according to one of claims 1 to 4, wherein said time interval of said pedestrian walk (1) during which said distal end (11) of said lower limb (10) is in contact with the ground is determined by step (c) like that during or after which the acceleration and / or angular velocity measured correspond to a predetermined pattern representative of the contact of the end (11) of the lower limb (10).
    [9" id="c-fr-0009]
    The method according to one of claims 1 to 8, wherein correcting an estimated speed of said lower limb (10) in step (c) comprises implementing a linear state estimator filter or non-linear.
    [10" id="c-fr-0010]
    10. Method according to one of claims 1 to 9, comprising a step (aO) prior to determining said lever arm.
    [11" id="c-fr-0011]
    The method of claim 10, wherein the lever arm is determined by minimizing the difference between the measured acceleration and an expected acceleration as a function of said measured angular velocity and lever arm, at a predetermined time interval of said walking of the pedestrian (1) during which said distal end (11) of said lower limb (10) is in contact with the ground.
    [12" id="c-fr-0012]
    The method of claims 9 and 10 in combination, wherein said lever arm determination comprises integrating the lever arm with the filter.
    [13" id="c-fr-0013]
    13. Equipment (2, 3, 4) for estimating the movement of a pedestrian (1) in operation, characterized in that it comprises data processing means (21, 31, 41) configured to implement : A module for receiving an acceleration and an angular velocity of a lower limb (10) of said pedestrian (1) acquired by inertial measurement means (20) integral with said lower limb (10) and arranged so that substantially rotating in relation to a distal end (11) of said lower limb (10); A module for estimating a speed of said lower limb (10) as a function of said acceleration and said measured angular velocity; A module for determining a time interval of said walking of the pedestrian (1) during which said distal end (11) of said lower limb (10) is in contact with the ground as a function of the measured acceleration, of the measured angular velocity , and a lever arm between the inertial measurement means (20) and said distal end (11); - A calculation module in said determined time interval of an expected speed of said lower limb (10) according to said measured angular velocity and said lever arm; A correction module in said time interval of the estimated speed of said lower limb (10) as a function of the expected speed; - A pedestrian movement estimation module (1) according to the estimated speed of said lower limb (10).
    [14" id="c-fr-0014]
    14. Equipment according to claim 13, being a housing (2) comprising the inertial measurement means (20).
    [15" id="c-fr-0015]
    Equipment according to claim 14, further comprising means (23) for attaching the housing (2) to the lower limb (10), a magnetometer (24), and communication means (25).
    [16" id="c-fr-0016]
    16. Equipment according to claim 15, being a mobile terminal (3) or a server (4), adapted to communicate with a housing (2) comprising the inertial measurement means (20).
    [17" id="c-fr-0017]
    17. System comprising the equipment (3, 4) according to claim 16 and at least one casing (2) in connection.
    [18" id="c-fr-0018]
    18. Computer program product comprising code instructions for executing a method for estimating the movement of a walking pedestrian (1) in motion according to one of claims 1 to 12, when said program is executed on a computer.
    [19" id="c-fr-0019]
    19. Storage medium readable by a computer equipment on which a computer program product includes code instructions for executing a method for estimating the movement of a walking pedestrian (1) in accordance with one of the Claims 1 to 12.
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    同族专利:
    公开号 | 公开日
    FR3042266B1|2019-04-19|
    US20180292230A1|2018-10-11|
    JP2018536869A|2018-12-13|
    ES2779764T3|2020-08-19|
    EP3359915B1|2019-12-25|
    EP3359915A1|2018-08-15|
    US11099029B2|2021-08-24|
    WO2017060660A1|2017-04-13|
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    法律状态:
    2016-10-11| PLFP| Fee payment|Year of fee payment: 2 |
    2017-04-14| PLSC| Publication of the preliminary search report|Effective date: 20170414 |
    2017-10-06| PLFP| Fee payment|Year of fee payment: 3 |
    2018-10-10| PLFP| Fee payment|Year of fee payment: 4 |
    2019-10-08| PLFP| Fee payment|Year of fee payment: 5 |
    2020-10-14| PLFP| Fee payment|Year of fee payment: 6 |
    2021-10-26| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1559591A|FR3042266B1|2015-10-08|2015-10-08|METHOD FOR ESTIMATING THE MOVEMENT OF A PIETON|
    FR1559591|2015-10-08|FR1559591A| FR3042266B1|2015-10-08|2015-10-08|METHOD FOR ESTIMATING THE MOVEMENT OF A PIETON|
    EP16793957.8A| EP3359915B1|2015-10-08|2016-10-10|Method for estimating the movement of a pedestrian|
    JP2018537731A| JP7023234B2|2015-10-08|2016-10-10|How to estimate pedestrian movement|
    PCT/FR2016/052619| WO2017060660A1|2015-10-08|2016-10-10|Method for estimating the movement of a pedestrian|
    ES16793957T| ES2779764T3|2015-10-08|2016-10-10|Procedure for estimating the movement of a pedestrian|
    US15/766,296| US11099029B2|2015-10-08|2016-10-10|Method for estimating the movement of a pedestrian|
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