CN-121978724-A - Positioning method and device of wearable device, electronic device and storage medium

CN121978724ACN 121978724 ACN121978724 ACN 121978724ACN-121978724-A

Abstract

The application relates to a positioning method and device of wearable equipment, electronic equipment and a storage medium. Continuously acquiring inertial measurement data of a wearable device, detecting the moment when a wrist of a user wearing the wearable device swings to a target position based on the inertial measurement data, calculating a corresponding installation attitude angle of the wearable device by utilizing the inertial measurement data corresponding to the moment, determining initial motion parameters aiming at the user according to the installation attitude angle, performing speed compensation on the initial motion parameters to obtain target motion parameters, screening non-occluded satellite measurement data based on the target motion parameters, and generating a positioning result by fusing the inertial measurement data and the satellite measurement data. The scheme provided by the application can improve the positioning reliability of the wearable equipment in a complex urban environment.

Inventors

YU LINGTAI
LIANG LIWEI
YANG SHIJING
DONG ZUOJUN
FENG LIANG
WANG SONGWEI
ZHANG WENJIE
YUAN PENG

Assignees

广东亿迅科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260227

Claims (10)

1. A method for positioning a wearable device, comprising: continuously acquiring inertial measurement data of the wearable device; detecting the moment when the wrist of a user wearing the wearable device swings to a target position based on the inertial measurement data, and calculating a corresponding installation attitude angle of the wearable device by utilizing the inertial measurement data corresponding to the moment; Determining initial motion parameters for a user according to the installation attitude angle; performing speed compensation on the initial motion parameters to obtain target motion parameters; and screening the satellite measurement data which are not shielded based on the target motion parameters, and generating a positioning result by fusing the inertial measurement data and the satellite measurement data.
2. The method of claim 1, wherein the detecting, based on the inertial measurement data, a moment in time when a wrist of a user wearing the wearable device swings to a target location comprises: extracting features of the inertial measurement data to obtain acceleration features and angular velocity features; calculating an acceleration module value corresponding to the acceleration characteristic, wherein the acceleration module value is used for determining an extreme point when the wrist of the user swings; integrating the angular velocity characteristics to obtain a rotation angle of the wrist of the user, wherein the rotation angle is used for identifying a swing arm period; and identifying a swing arm period based on the rotation angle, and determining the moment that the acceleration module value is smaller than a preset acceleration threshold value as the moment corresponding to the target position in each swing arm period.
3. The method of claim 1, wherein the calculating the corresponding mounting pose angle of the wearable device comprises: Constructing an acceleration data matrix by adopting acceleration data in the inertia measurement data; singular value decomposition processing is carried out on the acceleration data matrix, and a plurality of singular values and corresponding eigenvectors are obtained; selecting the maximum K singular values from the singular values, wherein K is an integer greater than or equal to 2; And calculating the installation attitude angle based on the included angles between the feature vectors corresponding to the K singular values and the gravity reference direction.
4. The method of claim 1, wherein determining initial motion parameters for a user based on the mounting pose angle comprises: constructing a rotation matrix by adopting the installation attitude angle; based on the rotation matrix, performing coordinate conversion on the inertial measurement data to generate converted inertial measurement data; integrating the converted inertial measurement data to obtain initial wrist speed and initial attitude angle change information; and generating initial motion parameters for the user by fusing the initial wrist speed and the initial attitude angle change information.
5. The method of claim 1, wherein the velocity compensating the initial motion parameter to obtain a target motion parameter comprises: Modeling the user wrist by taking the user shoulder of the user as a swinging fulcrum and the user wrist as a swinging endpoint to generate a simple pendulum motion model of the user wrist; obtaining a single pendulum motion parameter of the single pendulum motion model by analyzing the inertial measurement data; determining a lever arm length of the user wrist relative to the user shoulder based on the single pendulum motion parameter; And carrying out speed compensation on the initial motion parameter by utilizing the lever arm length to generate the target motion parameter.
6. The method of claim 1, wherein the screening of the unobstructed satellite measurement data based on the target motion parameters comprises: determining the position information and the posture information of the user in a three-dimensional space according to the target motion parameters; modeling the user as a three-dimensional model based on the position information and the pose information; calculating a line-of-sight vector between the user wrist and each satellite; Judging whether the satellite is shielded or not according to the three-dimensional model and the sight vector, and acquiring satellite measurement data returned by the satellite which is not shielded.
7. The method of claim 6, wherein determining whether the satellite is occluded from the three-dimensional model and the line-of-sight vector comprises: if a space intersection point exists between the three-dimensional model and the sight line vector and is positioned in the three-dimensional model, judging that the satellite is shielded; and if a space intersection point does not exist between the three-dimensional model and the sight line vector or the space intersection point is positioned outside the three-dimensional model, judging that the satellite is not shielded.
8. A positioning device of a wearable device, comprising: the inertial measurement data acquisition module is used for continuously acquiring inertial measurement data of the wearable equipment; The installation attitude angle determining module is used for detecting the moment when the wrist of a user wearing the wearable device swings to a target position based on the inertial measurement data, and calculating the installation attitude angle corresponding to the wearable device by utilizing the inertial measurement data corresponding to the moment; The initial motion parameter generation module is used for determining initial motion parameters for a user according to the installation attitude angle; The target motion parameter generation module is used for carrying out speed compensation on the initial motion parameters to obtain target motion parameters; And the measurement data fusion module is used for screening the satellite measurement data which are not shielded based on the target motion parameters, and generating a positioning result by fusing the inertial measurement data and the satellite measurement data.
9. An electronic device, comprising: processor, and A memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any of claims 1-7.
10. A computer readable storage medium having stored thereon executable code which when executed by a processor of an electronic device causes the processor to perform the method of any of claims 1-7.

Description

Positioning method and device of wearable device, electronic device and storage medium Technical Field The present application relates to the field of navigation technologies, and in particular, to a method and apparatus for positioning a wearable device, an electronic device, and a storage medium. Background With the development of global satellite navigation system (Global Navigation SATELLITE SYSTEM, GNSS) technology, wearable devices such as smart watches, smart bracelets and the like generally support positioning services, and the positioning capability of the wearable devices has become one of the core functions of the devices. In an environment with wide vision, GNSS can provide stable and accurate position reference, but in a complex urban environment, satellite signal propagation paths are easily influenced by building shielding and reflection, multipath effect and non-line-of-sight errors are generated, and large deviation and even rough difference of pseudo-range observation values are caused. Meanwhile, for the wearable equipment, the wearing position of the wearable equipment is usually positioned at the wrist of a human body, arms swing frequently in the moving process of the human body, and the human trunk has a periodic shielding effect on satellite signals, so that the GNSS observation sequence presents obvious unstable characteristics, and the discreteness of a positioning result is further aggravated. In order to improve positioning stability, the related art generally adopts a navigation scheme of combining GNSS and INS (Inertial Navigation System, inertial navigation system technology), and the influence of GNSS rough is relieved through inertial navigation capability. However, in urban complex environments, the complexity of pedestrian motion and environmental variability present certain limitations to conventional GNSS/INS integrated navigation schemes. Especially in the process of pedestrian movement, the swing of the wrist can be influenced by the shielding of a human body, so that GNSS signals are shielded, and rough differences are generated. In addition, the inertial navigation system of the wristband device has the defects of fast position error drift and difficulty in maintaining a high-precision positioning result for a long time due to the limitation of the volume and the precision. It can be seen that the current navigation scheme combining GNSS and INS cannot meet the positioning requirements in urban complex environments. Disclosure of Invention In order to solve or partially solve the problems in the related art, the application provides a positioning method and device of a wearable device, an electronic device and a storage medium, which can improve the positioning reliability of the wearable device in a complex urban environment. The first aspect of the present application provides a positioning method of a wearable device, including: continuously acquiring inertial measurement data of the wearable device; detecting the moment when the wrist of a user wearing the wearable device swings to a target position based on the inertial measurement data, and calculating a corresponding installation attitude angle of the wearable device by utilizing the inertial measurement data corresponding to the moment; Determining initial motion parameters for a user according to the installation attitude angle; performing speed compensation on the initial motion parameters to obtain target motion parameters; and screening the satellite measurement data which are not shielded based on the target motion parameters, and generating a positioning result by fusing the inertial measurement data and the satellite measurement data. In one example, the detecting, based on the inertial measurement data, a moment in time when a wrist of a user wearing the wearable device swings to a target position includes: extracting features of the inertial measurement data to obtain acceleration features and angular velocity features; calculating an acceleration module value corresponding to the acceleration characteristic, wherein the acceleration module value is used for determining an extreme point when the wrist of the user swings; integrating the angular velocity characteristics to obtain a rotation angle of the wrist of the user, wherein the rotation angle is used for identifying a swing arm period; and identifying a swing arm period based on the rotation angle, and determining the moment that the acceleration module value is smaller than a preset acceleration threshold value as the moment corresponding to the target position in each swing arm period. In one example, the calculating the corresponding installation attitude angle of the wearable device includes: Constructing an acceleration data matrix by adopting acceleration data in the inertia measurement data; singular value decomposition processing is carried out on the acceleration data matrix, and a plurality of singular values and corresponding eigenvec