基于模态辨识的多条件约束步态检测算法  

Multi-conditional Constraint Gait Detection Algorithm Based on Modal Identification

作　　者：孙银收 熊智[1] 邢丽 李晓东 崔岩 SUN Yinshou;XIONG Zhi;XING Li;LI Xiaodong;CUI Yan(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106;School of Railway Transportation,Shanghai Institute of Technology,Shanghai 201418)

机构地区：[1]南京航空航天大学自动化学院,南京211106 [2]上海应用技术大学轨道交通学院,上海201418

出　　处：《导航与控制》2023年第6期13-25,共13页Navigation and Control

基　　金：国家自然科学基金青年基金项目(编号:62103285);南京航空航天大学科研与实践创新计划(编号:xcxih20220319);江苏省研究生科研创新计划项目(编号:KYCX23_0384)

摘　　要：行人运动模态的准确辨识可以辅助步态检测。针对行人连续运动模态下步态检测不准确的问题,提出了基于模态辨识的多条件约束步态检测算法。首先,根据行人的运动特征和手持终端的姿态特征,引入有限状态机思想构建轻量级分类器,识别行人三种运动状态(静止、行走和跑步)以及终端三种使用模式(平端、电话和摆臂),以提高步态检测的适应性。然后,通过极值约束、周期性约束与峰谷值匹配机制提高步态检测精度。最后,通过相邻波峰/波谷替代机制剔除伪波峰/波谷,以达到更为精准的步态检测。实验结果表明,该算法在单一运动模态下的步态检测精度最小为98.89%,在连续复杂模态下的总体检测精度为100%,具有较强的准确度和鲁棒性。Accurate identification of pedestrian motion modals can aid gait detection.For the problem of inaccurate gait detection under pedestrian continuous motion modals,a multi-conditional constraint gait detection algorithm based on modal identification is proposed in this paper.Firstly,based on the motion characteristics of pedestrians and the pose characteristics of handheld terminals,finite state machine idea is introduced to construct lightweight classifiers to identify three motion states of pedestrians(stationary,walking and running)and three usage modes of terminals(flat end,telephone and swing arm),in order to improve the adaptability of gait detection.Then,the gait detection accuracy is improved by extreme value constraint,periodicity constraint and peak/valley matching mechanism.Finally,the pseudo-peaks/valleys are eliminated by the adjacent peak/valley substitution mechanism to achieve more accurate gait detection.The experiment results show that the algorithm has a minimum gait detection accuracy of 98.89%in a single-motion modal and an overall detection accuracy of 100%in continuous complex modals,which has strong accuracy and robustness.

关 键 词：室内定位 行人航位推算 多条件约束 步态检测 模态辨识 手持终端 

分 类 号：U666.1[交通运输工程—船舶及航道工程]