Robust step detection using low cost MEMS accelerometer in mobile applications, and processing methods, apparatus and systems

• US 10,330,491 B2
• Filed: 11/22/2011
• Issued: 06/25/2019
• Est. Priority Date: 10/10/2011
• Status: Active Grant

• Current Assignee: Texas Instruments, Inc.
• Original Assignee: Texas Instruments, Inc.
• Inventors: Janardhanan, Jayawardan, Rao, Sandeep, Dutta, Goutam
• Primary Examiner(s): Kundu, Sujoy K
• Assistant Examiner(s): Anderson, L.
• Application Number:
  US13/302,329
• Publication Number:
  US 20130090881A1
• Time in Patent Office: 2,772 Days
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01C 21/18 Stabilised platforms, e.g. by gyroscope
• CPC Class Codes: G01C 21/185 for gravity
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 22/006 Pedometers
• CPC Class Codes: G01F 15/00 Details of, or accessories for, apparatus of groups G01F1/00 - G01F13/00 insofar as such details or appliances are not adapted to particular types of such apparatus
• CPC Class Codes: G01P 15/00 Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
• CPC Class Codes: G06F 1/163 Wearable computers, e.g. on a belt

Abstract

A system (10) for pedestrian use includes an accelerometer (110) having multiple electronic sensors; an electronic circuit (100) operable to generate a signal stream representing magnitude of overall acceleration sensed by the accelerometer (110), and to electronically correlate a sliding window (520) of the signal stream with itself to produce peaks at least some of which represent walking steps, and further operable to electronically execute a periodicity check (540) to compare different step periods for similarity, and if sufficiently similar then to update (560) a portion of the circuit substantially representing a walking-step count; and an electronic display (190) responsive to the electronic circuit (100) to display information at least in part based on the step count. Other systems, electronic circuits and processes are disclosed.

Claims

1. A system for pedestrian use, the system comprising:

an accelerometer having multiple electronic sensors;

an electronic circuit operable to generate a signal stream representing magnitude of acceleration sensed by said accelerometer, and to electronically correlate a sliding window of the signal stream with itself to produce peaks at least some of which represent walking steps, and further operable to electronically execute a periodicity check to compare different step periods, and to update a walking-step count, wherein the electronic circuit includes a clock circuit and includes a step frequency module operable in response to the clock circuit and the periodicity check to electronically generate signals representing values proportional to an estimated step frequency; and

an electronic display responsive to said electronic circuit to display information at least in part based on said step count;

wherein the periodicity check includes operations of the electronic circuit to electronically record relative times of successive peaks, and execute a search of pairs of the times over those peaks to find a succession of peaks that are at an equal interval from each other based on the relative times, and to generate an estimate of step period to be at least same as that interval.

2. The system claimed in claim 1 wherein the periodicity check includes screening for a correlation peak within a time range in which a step can be expected relative to a previous correlation peak representing a step.

3. The system claimed in claim 2 wherein the update operates to update the step count when the screening determines that the correlation peak is present within the time range.

4. The system claimed in claim 2 wherein the electronic circuit is also operable, when the screening detects a correlation peak within the time range, to then update the time range in which a succeeding step can be expected, such range update as a function of the time between the detected correlation peak and at least one previous correlation peak representing a step.

5. The system claimed in claim 2 wherein said electronic circuit is operable to screen the correlation peaks in threes.

6. The system claimed in claim 1 wherein the periodicity check includes a set of electronic analytical tests on correlation peaks in data over a duration window including and going beyond each peak that is analytically tested, a first such analytical test including a test whether a peak exceeds a height threshold, and a second such analytical test including a test whether a given peak is later followed by another peak that is within the duration window, whereupon if a given peak passes the first and second tests, then the given peak is validated and said another peak is analyzed by at least the second analytical test.

7. The system claimed in claim 6 wherein the periodicity check includes a test whether a given peak is later followed by another peak that is within the duration window, whereupon if the given peak fails the test, then the electronic circuit is further operable to skip to a next peak that is next after the given peak regardless of whether the next peak is prior or subsequent to the duration window.

8. The system claimed in claim 1 wherein the periodicity check includes a set of electronic analytical tests on correlation peaks, and the electronic circuit is operable to determine what tests are applicable to a given peak and execute the applicable tests, and is further operable to skip to a next peak in the data if a given peak fails to pass the applicable tests.

9. The system claimed in claim 1 for faster-walking and slower-walking pedestrian use wherein the correlation peaks are lower-amplitude and more widely spaced in response to slower-walking, and said electronic circuit is operable to apply electronic analytical tests on the correlation peaks, the tests having test parameters, and said electronic circuit is further operable to vary the test parameters adaptively at least sometimes when the correlation peaks vary in amplitude and spacing.

10. The system claimed in claim 1 wherein the periodicity check includes selecting correlation peaks having a peak intensity exceeding a variable threshold, such threshold being higher if at least one recent peak is high, and lower if at least one recent peak is low.

11. The system claimed in claim 1 wherein said electronic circuit is operable to detect a zero crossing of the correlation and to identify the time of a user walking step from a next-previous correlation peak.

12. The system claimed in claim 1 wherein said electronic circuit is operable to update a stride window for the correlation to encompass at least a current stride period.

13. The system claimed in claim 1 wherein the periodicity check includes both selecting correlation peaks having a peak intensity exceeding a variable threshold, such threshold being higher if at least one recent peak is high, and lower if at least one recent peak is low, and screening for such correlation peak within a time range in which a step can be expected relative to a previous such correlation peak.

14. The system claimed in claim 1 wherein the electronic circuit is operable to skip a peak that has no subsequent peak satisfying the periodicity check.

15. The system claimed in claim 1 wherein the periodicity check includes detecting zero crossings, and identifying the first maximum before a zero crossing as a true peak representing a walking step.

16. The system claimed in claim 1 wherein the electronic circuit is further operable to generate a range based on mean step frequency and to compare the values proportional to estimated step frequency to determine whether they lie within the range, and if not then to perform an adjustment that doubles or halves the values depending on whether they lie below or above the range.

17. The system claimed in claim 1 wherein the electronic circuit is operable when periodicity check is passed to electronically generate a signal for display representing a first stride period between right leg steps and a second stride period between left leg steps.

18. The system claimed in claim 1 wherein the electronic circuit is operable to estimate step length for display as a function of generated step frequency and to accumulate such estimated step length as the walking-step count increases, to generate an estimate of walking distance traveled.

19. An electronic circuit for use with an accelerometer, the electronic circuit comprising:

a nonvolatile memory having stored representations of instructions to generate a signal stream representing magnitude of acceleration, to electronically correlate a sliding window of the signal stream with itself to produce peaks at least some of which represent walking steps, and to electronically execute a periodicity check to compare different step periods, and to update a walking-step count;

a sensor input port;

a display port; and

a processor circuit programmably operable in response to the instructions in said nonvolatile memory for at least addition and multiplication and conditional operations responsive to said sensor input port, thereby to effectuate the instructions and drive said display port;

wherein the periodicity check includes such instructions to electronically record relative times of successive peaks, and execute a search of pairs of the times over those peaks to find a succession of peaks that are at an equal interval from each other based on the relative times, and to generate an estimate of walking-step length as a function of that interval; and

wherein the processor circuit includes a clock circuit and the memory includes a step frequency module for execution by the processor with the periodicity check and with the clock circuit.

20. The electronic circuit claimed in claim 19 wherein the periodicity check includes screening for a correlation peak within a time range in which a walking step can be expected relative to a previous correlation peak representing a walking step.

21. The electronic circuit claimed in claim 20 wherein the update operates to update the step count when the screening determines that a correlation peak is present within the time range.

22. The electronic circuit claimed in claim 20 wherein the processor circuit is also operable, when the screening detects a correlation peak within the time range, to then update the time range in which a succeeding step can be expected, such range update as a function of the time between the detected correlation peak and at least one previous correlation peak representing a step.

23. The electronic circuit claimed in claim 19 wherein the periodicity check includes a set of processor analytical tests on correlation peaks in data over a duration window including and going beyond each peak that is analytically tested, a first such analytical test including a test whether a peak exceeds a height threshold, and a second such analytical test including a test whether a given peak is later followed by another peak that is within the duration window, whereupon if a given peak passes the first and second tests, then said another peak is analyzed by at least the second analytical test.

24. The electronic circuit claimed in claim 23 wherein the periodicity check includes a test whether a given peak is later followed by another peak that is within the duration window, whereupon if the given peak fails the test, then the processor circuit is further operable to skip to a next peak that is next after the given peak regardless of whether the next peak is prior or subsequent to the duration window.

25. The electronic circuit claimed in claim 19 wherein the periodicity check includes a set of processor analytical tests on correlation peaks, and the processor circuit is operable to determine what tests are applicable to a given peak and execute the applicable tests, and is further operable to skip to a next peak in the data if a given peak fails to pass the applicable tests.

26. The electronic circuit claimed in claim 19 for faster-walking and slower-walking pedestrian use wherein the correlation peaks are lower-amplitude and more widely spaced in response to slower-walking, and said processor circuit is operable to apply processor analytical tests on the correlation peaks, the tests having test parameters, and said processor circuit is further operable to vary the test parameters adaptively at least sometimes when the correlation peaks vary in amplitude and spacing.

27. The electronic circuit claimed in claim 19 wherein said processor circuit is operable to screen multiple correlation peaks concurrently.

28. The electronic circuit claimed in claim 19 wherein the periodicity check includes selecting correlation peaks having a peak intensity exceeding a variable threshold, such threshold being higher if at least one recent peak is high, and lower if at least one recent peak is low.

29. The electronic circuit claimed in claim 19 wherein said processor circuit is operable to detect a zero crossing of the correlation to identify the time of a user walking step.

30. The electronic circuit claimed in claim 19 wherein said processor circuit is operable to update a stride window for the correlation to encompass at least a current stride period.

31. The electronic circuit claimed in claim 19 wherein the processor circuit is further operable to generate a range based on mean step frequency and to compare the values proportional to estimated step frequency to determine whether they lie within the range, and if not then to perform an adjustment that doubles or halves the values depending on whether they lie below or above the range.

32. The electronic circuit claimed in claim 19 wherein the processor circuit is operable when periodicity check is passed to electronically generate a signal for display representing a first stride period between right leg steps and a second stride period between left leg steps.

33. The electronic circuit claimed in claim 19 wherein the processor circuit is operable to estimate step length for display as a function of generated step frequency and to supply said display port with signals based at least in part on the step length.

34. A process implemented using an electronic circuit responsive to an accelerometer, the process comprising:

generating a signal stream representing magnitude of acceleration;

electronically correlating a sliding window of the signal stream with itself to produce peaks at least some of which represent walking steps;

electronically executing a periodicity check comparing different step periods updating a walking-step count;

generating display information at least in part based on the step count;

wherein the periodicity check includes electronically recording relative times of successive peaks, and searching pairs of the times over those peaks to find a succession of peaks that are at an equal interval from each other based on the relative times, and generating an estimate of walking-step length as a function of that interval; and

monitoring step frequency with the periodicity check and a clock circuit.

35. The process claimed in claim 34 wherein the periodicity check includes screening for a correlation peak within a time range in which a walking step can be expected relative to a previous correlation peak representing a walking step.

36. The process claimed in claim 35 wherein the update operates to update the step count when the screening determines that a correlation peak is present within the time range.

37. The process claimed in claim 35 wherein, when the screening detects a correlation peak within the time range, then updating the time range in which a succeeding step can be expected as a function of the time between the detected correlation peak and at least one previous correlation peak representing a step.

38. The process claimed in claim 34 wherein the periodicity check includes a set of analytical tests on correlation peaks in data over a duration window including and going beyond each peak that is analytically tested, a first such analytical test including a test whether a peak exceeds a height threshold, and a second such analytical test including a test whether a given peak is later followed by another peak that is within the duration window, whereupon if a given peak passes the first and second tests, then said another peak is analyzed by at least the second analytical test.

39. The process claimed in claim 34 wherein the periodicity check includes a set of analytical tests on correlation peaks and determining what tests are applicable to a given peak and executing the applicable tests, and skipping to a next peak in the data if a given peak fails to pass the applicable tests.

40. The process claimed in claim 34 for faster-walking and slower-walking pedestrian use wherein the correlation peaks are lower-amplitude and more widely spaced in response to slower-walking, and the process includes electronically adjusting test parameters of analytical tests adaptively at least sometimes when the correlation peaks vary in amplitude and spacing.

41. The process claimed in claim 34 wherein the periodicity check includes selecting correlation peaks having a peak intensity exceeding a variable threshold, such threshold being higher if at least one recent peak is high, and lower if at least one recent peak is low.

42. The process claimed in claim 34 wherein monitoring includes generating a range based on mean step frequency and to compare the values proportional to estimated step frequency to determine whether they lie within the range, and if not then to perform an adjustment that doubles or halves the values depending on whether they lie below or above the range.

43. The process claimed in claim 34 further comprising supplying display signals based at least in part on a step length as a function of the step frequency.