基于三轴加速度传感器的动作分类和步数检测
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摘要
关于定位系统,世界上发展较为成熟与精确的就是全球卫星定位系统(GPS,Global Positioning System),GPS利用多颗GPS卫星联合对持有接收器的节点协作定位,现在GPS定位已经可以达到很高的精度了。但是在某些特定的场景下,如战场或者消防现场等情况下,GPS无法使用,这就需要利用盲区自定位的方法进行节点的自定位。
本文吸收了前人在相关领域的研究成果,特别是本课题组中前人的经验,利用给每个节点配备加速度传感器的方法,来获取每个节点的运动信息,用加速度传感器进行步数识别和动作分类是在GPS的盲区定位中很重要的一部分,目前基于加速度传感器对步数的识别由于对传感器摆放位置和方向的不确定性过多,因为对于大多数应用来说,传感器节点的位置是必须知晓的,因为当位置不确定的时候,得到的数据是没有意义的。根据得到的加速度数值,来进行实时的动作检测。本文中将传感器摆放在脚踝处,并把得到的加速度数据进行预处理,再利用得到的波形图来识别出每一步,通过大量的实验找出各个不同动作的特征点,设计出一种可行的动作分类算法。
When we are talking about positioning system, GPS(Global Positioning System) is a maturely and accuracy method, it can acquire a relatively high accuracy with a GPS sensor which can get position information from more than 4 GPS satellites. But in some situations (e.g. Battles or fire scene), GPS can’t be used. So we have to use the DR (Dead Reckoning) way to make nodes self-localization.
This article absorbs the previous research in related fields, especial experiences in our work group. The method used in this article is the way which gets every note a acceleration sensor to get its motive information. Activities classify and Step detection with acceleration sensor is a very important part in DR (Dead Reckoning). This method detects nodes’motions with acceleration information. Sensor is set on people’s ankle. This article pre-processes the raw data, detects steps with the acceleration information and finds a feasible activities classify from the mass experiments.
本文吸收了前人在相关领域的研究成果,特别是本课题组中前人的经验,利用给每个节点配备加速度传感器的方法,来获取每个节点的运动信息,用加速度传感器进行步数识别和动作分类是在GPS的盲区定位中很重要的一部分,目前基于加速度传感器对步数的识别由于对传感器摆放位置和方向的不确定性过多,因为对于大多数应用来说,传感器节点的位置是必须知晓的,因为当位置不确定的时候,得到的数据是没有意义的。根据得到的加速度数值,来进行实时的动作检测。本文中将传感器摆放在脚踝处,并把得到的加速度数据进行预处理,再利用得到的波形图来识别出每一步,通过大量的实验找出各个不同动作的特征点,设计出一种可行的动作分类算法。
When we are talking about positioning system, GPS(Global Positioning System) is a maturely and accuracy method, it can acquire a relatively high accuracy with a GPS sensor which can get position information from more than 4 GPS satellites. But in some situations (e.g. Battles or fire scene), GPS can’t be used. So we have to use the DR (Dead Reckoning) way to make nodes self-localization.
This article absorbs the previous research in related fields, especial experiences in our work group. The method used in this article is the way which gets every note a acceleration sensor to get its motive information. Activities classify and Step detection with acceleration sensor is a very important part in DR (Dead Reckoning). This method detects nodes’motions with acceleration information. Sensor is set on people’s ankle. This article pre-processes the raw data, detects steps with the acceleration information and finds a feasible activities classify from the mass experiments.
引文
[1]王福豹,史龙,任丰原,无线传感器网络中的自身定位系统和算法,软件学报,2005,16(5)
[2]张杨,余敬东,Ad Hoc网络分布式定位算法,全球定位系统,2006.3
[3]李爽,罗志增,孟明,基于加速度传感器的下肢运动信息获取方法,机电工程,2009.1
[4]苏丽娜,董金明,赵琦,基于加速度传感器的计步器系统,全国第二届嵌入式技术联合学术会议,2007.8
[5] Seon-Woo, Kenji Mase, Recognition of Walking Behaviors for Pedestrian Navigation, 2001 IEEE International Conference on Control Applications, 2001.9
[6] Zhenyu He, Zhibin Liu, Lianwen Jin etc., Weightlessness Feature-A Novel Feature for Single Tri-axial Accelerometer based Activity Recognitions, 2008 19th International Conference on Pattern Recognition, ICPR2008, December 08, 2008-December 11, 2008
[7] Jeong Won Kim, Han Jin Jang, Dong-Hwang Hwang etc., A Setp, Stride and Heading Determination for the Pedestrian Navigation System, The 2004 International Symposium on GNSS/GPS Sydney,Australia, December 6-8 2004
[8]徐保重,Ad Hoc网络自定位算法研究与应用,[硕士学位论文] ,天津大学,2009
[9]李春江,吴桂生, FIR滤波器FPGA实现,电子测量技术,2004.5
[10]宋璐,张全法,FIR数字低通滤波器工频干扰抑制能力的提高,电子测量技术,2009,32(06)
[11] ZHANG Yi-heng, CUI Qi-mei, LI Yu-xiang etc., A novel TOA estimation method with effective NLOS error reduction, Journal of China Universities of Posts and Telecommunications, March 2008, 32-37
[12] Seong, Nak-Seon, Park, Seong-Ook, Clock offsets in TDOA localization, 3rd International Symposium on Ubiquitous Computing Systems, UCS 2006, October11, 2006-October 13, 2006, Deoul, Korea, 111-118
[13] Girod, Lewis, Estrin, Deborah, Robust range estimation using acoustic and mutimodal sensing, 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2001-Nobember 03, 2001, Maui, HI, United states, 1312-1320
[14] Yi Shang, Wheeler Ruml, Ying Zhang etc., Localization from Mere Connectivity, MOBIHOC 2003 : PROCEEDINGS OF The Fourth ACM International Symposium on Mobile Ad Hoc Networking and Computing, June 01, 2003-June 03, 2003, Annapolis, MD, United states, 201-212
[15] Yi Shang, Wheeler Ruml, Markus P.J. Fromherz, Positionging using local maps, Ad Hoc Networks, v 4, n 2, p 240-253, March 2006
[16] Lauro Ojeda, Johann Borenstein, Personal Dead-reckoning System for GPS-denied Environments, IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR2007, September 27, 2007-September 29, 2007, Rome, Italy
[17] Charles Toth, Dorota A. Grejner-Brzezinska, Shahram Moafipoor etc., Pedestrian Tracking and Navigation Using Neural Networks and Fuzzy Logic, 2007 IEEE International Symposium on Intelligent Signal Processing, WISP, October 03, 2007-October 05, 2007, Alcala de Henares, Spain。
[18] Mario Gerla, Yeng-Zhong Lee, Biao Zhou etc.,“Direction”Forward Routing for Highly Mobile Ad Hoc Networks, Ad Hoc & Sensor Wireless Networks, January 24, 2006
[19] JiWei Chen, Yeng-Zhong Lee, He Zhou etc., Robust Ad Hoc Routing for Lossy Wireless Environment, Military Communications Conference 2006, MILCOM 2006, October 23, 2006-October 25, 2006
[20] Brad Karp, H.T.Kung, GPSR:Greedy Perimeter Stateless Routing for Wireless Networks, 6th Annual International Conference on Mobile Computing and Networking(MOBICOM 2000), August 06, 2000-August 11, 2000
[21] Michele Zorzi, Ramesh R.Rao, Geographic Random Forwarding(GeRaF) for ad hoc and sensor networks:energy and latency performance, IEEE Transactions on Mobile Computing, vol.2, n.4, Oct-Dec. 2003, 337-348
[22]王福豹,史龙,任丰原,无线传感器网络中的自身定位系统和算法,软件学报,2005,16(5)
[23]张杨,余敬东,Ad Hoc网络分布式定位算法,全球定位系统,2006.3
[24] Srdan Capkun, Maher Hamdi, Jean-Pierre Hubaux, GPS-free positioning in mobile Ad-Hoc networks, 34th Annual Hawaii International Conference on System Sciences, January 03, 2001-January 06, 2001
[25] Dragos Niculescu, Badri Nath, Localized Positioning in Ad Hoc Networks, Ad Hoc Networks, v1, n2-3, September 2003, 247-259
[26] Dragos Niculescu, Badri Nath, Ad Hoc Positioning System(APS), Proc.of the 2001 IEEE Global Telecommunications Conf.Vol.5, 2926-2931
[27] Dragos Niculescu, Badri Nath, DV based positioning in ad hoc networks.
[28] Philips Semiconductors, The I2C-bus specification version 2.1, 2000.1
[29] Catherine Lyons, Bill Ommert, Scott Thayer, Bipedal Motion Estimation with the Human Odometer, proceedings of the 2004 IEEE, Conference on Robotics, Automation and mechatronics, Singapore, 1-3 December, 2004
[30] Liu, Rong, Zhou, Jianzhong, Liu, Ming etc., A wearable acceleration sensor system for gait recognition, 2007 2nd IEEE Conference on Industrial Electronics and Applications, ICIEA 2007, May 23, 2007-May 25, 2007, 2654-2659
[31] Pei Zhang, Margaret Martonosi, LOCALE:Collaborative Localization Estimation for Sparse Mobile Sensor Networks, International Conference on Information Processing in Sensor Networks, 2008
[32]王贻民,戴冠中,张治等,Ad Hoc网络自定位算法研究,计算机科学,2006,Vol.33No.5
[33] JiWei Chen, Yeng-Zhong Lee, He Zhou etc., Robust Ad Hoc Routing for Lossy Wireless Environment, Military Communications Conference 2006, MILCOM 2006, October 23, 2006-October 25, 2006
[2]张杨,余敬东,Ad Hoc网络分布式定位算法,全球定位系统,2006.3
[3]李爽,罗志增,孟明,基于加速度传感器的下肢运动信息获取方法,机电工程,2009.1
[4]苏丽娜,董金明,赵琦,基于加速度传感器的计步器系统,全国第二届嵌入式技术联合学术会议,2007.8
[5] Seon-Woo, Kenji Mase, Recognition of Walking Behaviors for Pedestrian Navigation, 2001 IEEE International Conference on Control Applications, 2001.9
[6] Zhenyu He, Zhibin Liu, Lianwen Jin etc., Weightlessness Feature-A Novel Feature for Single Tri-axial Accelerometer based Activity Recognitions, 2008 19th International Conference on Pattern Recognition, ICPR2008, December 08, 2008-December 11, 2008
[7] Jeong Won Kim, Han Jin Jang, Dong-Hwang Hwang etc., A Setp, Stride and Heading Determination for the Pedestrian Navigation System, The 2004 International Symposium on GNSS/GPS Sydney,Australia, December 6-8 2004
[8]徐保重,Ad Hoc网络自定位算法研究与应用,[硕士学位论文] ,天津大学,2009
[9]李春江,吴桂生, FIR滤波器FPGA实现,电子测量技术,2004.5
[10]宋璐,张全法,FIR数字低通滤波器工频干扰抑制能力的提高,电子测量技术,2009,32(06)
[11] ZHANG Yi-heng, CUI Qi-mei, LI Yu-xiang etc., A novel TOA estimation method with effective NLOS error reduction, Journal of China Universities of Posts and Telecommunications, March 2008, 32-37
[12] Seong, Nak-Seon, Park, Seong-Ook, Clock offsets in TDOA localization, 3rd International Symposium on Ubiquitous Computing Systems, UCS 2006, October11, 2006-October 13, 2006, Deoul, Korea, 111-118
[13] Girod, Lewis, Estrin, Deborah, Robust range estimation using acoustic and mutimodal sensing, 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2001-Nobember 03, 2001, Maui, HI, United states, 1312-1320
[14] Yi Shang, Wheeler Ruml, Ying Zhang etc., Localization from Mere Connectivity, MOBIHOC 2003 : PROCEEDINGS OF The Fourth ACM International Symposium on Mobile Ad Hoc Networking and Computing, June 01, 2003-June 03, 2003, Annapolis, MD, United states, 201-212
[15] Yi Shang, Wheeler Ruml, Markus P.J. Fromherz, Positionging using local maps, Ad Hoc Networks, v 4, n 2, p 240-253, March 2006
[16] Lauro Ojeda, Johann Borenstein, Personal Dead-reckoning System for GPS-denied Environments, IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR2007, September 27, 2007-September 29, 2007, Rome, Italy
[17] Charles Toth, Dorota A. Grejner-Brzezinska, Shahram Moafipoor etc., Pedestrian Tracking and Navigation Using Neural Networks and Fuzzy Logic, 2007 IEEE International Symposium on Intelligent Signal Processing, WISP, October 03, 2007-October 05, 2007, Alcala de Henares, Spain。
[18] Mario Gerla, Yeng-Zhong Lee, Biao Zhou etc.,“Direction”Forward Routing for Highly Mobile Ad Hoc Networks, Ad Hoc & Sensor Wireless Networks, January 24, 2006
[19] JiWei Chen, Yeng-Zhong Lee, He Zhou etc., Robust Ad Hoc Routing for Lossy Wireless Environment, Military Communications Conference 2006, MILCOM 2006, October 23, 2006-October 25, 2006
[20] Brad Karp, H.T.Kung, GPSR:Greedy Perimeter Stateless Routing for Wireless Networks, 6th Annual International Conference on Mobile Computing and Networking(MOBICOM 2000), August 06, 2000-August 11, 2000
[21] Michele Zorzi, Ramesh R.Rao, Geographic Random Forwarding(GeRaF) for ad hoc and sensor networks:energy and latency performance, IEEE Transactions on Mobile Computing, vol.2, n.4, Oct-Dec. 2003, 337-348
[22]王福豹,史龙,任丰原,无线传感器网络中的自身定位系统和算法,软件学报,2005,16(5)
[23]张杨,余敬东,Ad Hoc网络分布式定位算法,全球定位系统,2006.3
[24] Srdan Capkun, Maher Hamdi, Jean-Pierre Hubaux, GPS-free positioning in mobile Ad-Hoc networks, 34th Annual Hawaii International Conference on System Sciences, January 03, 2001-January 06, 2001
[25] Dragos Niculescu, Badri Nath, Localized Positioning in Ad Hoc Networks, Ad Hoc Networks, v1, n2-3, September 2003, 247-259
[26] Dragos Niculescu, Badri Nath, Ad Hoc Positioning System(APS), Proc.of the 2001 IEEE Global Telecommunications Conf.Vol.5, 2926-2931
[27] Dragos Niculescu, Badri Nath, DV based positioning in ad hoc networks.
[28] Philips Semiconductors, The I2C-bus specification version 2.1, 2000.1
[29] Catherine Lyons, Bill Ommert, Scott Thayer, Bipedal Motion Estimation with the Human Odometer, proceedings of the 2004 IEEE, Conference on Robotics, Automation and mechatronics, Singapore, 1-3 December, 2004
[30] Liu, Rong, Zhou, Jianzhong, Liu, Ming etc., A wearable acceleration sensor system for gait recognition, 2007 2nd IEEE Conference on Industrial Electronics and Applications, ICIEA 2007, May 23, 2007-May 25, 2007, 2654-2659
[31] Pei Zhang, Margaret Martonosi, LOCALE:Collaborative Localization Estimation for Sparse Mobile Sensor Networks, International Conference on Information Processing in Sensor Networks, 2008
[32]王贻民,戴冠中,张治等,Ad Hoc网络自定位算法研究,计算机科学,2006,Vol.33No.5
[33] JiWei Chen, Yeng-Zhong Lee, He Zhou etc., Robust Ad Hoc Routing for Lossy Wireless Environment, Military Communications Conference 2006, MILCOM 2006, October 23, 2006-October 25, 2006