CN103674009A - Method and device for obtaining movement locus of mobile terminal and mobile terminal - Google Patents

Abstract

The invention provides a method and device for obtaining a movement locus of a mobile terminal and the mobile terminal, wherein the method comprises the steps of obtaining an angular velocity value of the mobile terminal at a previous calculating moment and an attitude value of the mobile terminal at the previous calculating moment; predicting a first attitude value of a current calculating moment according to the angular velocity value at the previous calculating moment and the attitude value at the previous calculating moment; obtaining an acceleration value and/or course angle value of the mobile terminal at the current calculating moment; correcting the first attitude value of the current calculating moment according to the acceleration value and/or course angle value at the current calculating moment; obtaining the movement locus of the mobile terminal according to the corrected first attitude value corresponding to each calculating moment. According to the embodiment of the invention, the movement locus with high precision can be obtained by combining with the angular velocity value, the acceleration value and the course angle value of the mobile terminal.

Description

Method and device for obtaining motion trail of mobile terminal and mobile terminal

Technical Field

The invention relates to the technical field of mobile terminal manufacturing, in particular to a method and a device for acquiring a motion trail of a mobile terminal and the mobile terminal.

Background

With the increasing development of mobile terminal technology, the functions of the mobile terminal are more and more abundant, and especially the development of sensor technology makes it possible to acquire the motion track of the mobile terminal. At present, the accelerometer carried by the mobile terminal can be used for identifying the single swing of the mobile terminal, and an accurate motion track cannot be obtained.

Disclosure of Invention

The present invention is directed to solving at least one of the above problems.

To this end, a first object of the present invention is to provide a method for obtaining a motion trajectory of a mobile terminal, which can obtain a motion trajectory with high accuracy by combining an angular velocity value, an acceleration value and a heading angle value of the mobile terminal.

The second purpose of the present invention is to provide an apparatus for acquiring a motion trail of a mobile terminal.

A third object of the present invention is to provide a mobile terminal.

In order to achieve the above object, a method for acquiring a motion trail of a mobile terminal according to an embodiment of a first aspect of the present invention includes the following steps: acquiring an angular velocity value of the mobile terminal at the last calculation time and an attitude value at the last calculation time; predicting a first attitude value at the current computing moment according to the angular velocity value at the last computing moment and the attitude value at the last computing moment; acquiring an acceleration value and/or a course angle value of the mobile terminal at the current calculation moment; correcting the first attitude value at the current calculation time according to the acceleration value and/or the course angle value at the current calculation time; and acquiring the motion trail of the mobile terminal according to the corrected first attitude value corresponding to each calculation moment.

According to the method for acquiring the motion trail of the mobile terminal, the attitude value of the current calculation time is predicted according to the angular velocity value and the attitude value of the previous calculation time, and the attitude value is corrected according to the acceleration and/or the course angle value of the current calculation time, so that the motion trail with high precision can be acquired.

In order to achieve the above object, an apparatus for acquiring a motion trail of a mobile terminal according to an embodiment of a second aspect of the present invention includes: the first acquisition module is used for acquiring the angular velocity value of the mobile terminal at the last calculation moment and the attitude value at the last calculation moment; the prediction module is used for predicting a first attitude value at the current calculation time according to the angular velocity value at the last calculation time and the attitude value at the last calculation time; the second acquisition module is used for acquiring the acceleration value and/or the course angle value of the mobile terminal at the current calculation moment; the correction module is used for correcting the first attitude value at the current calculation time according to the acceleration value and/or the course angle value at the current calculation time; and the third acquisition module is used for acquiring the motion trail of the mobile terminal according to the corrected first attitude value corresponding to each calculation moment.

According to the device for acquiring the motion trail of the mobile terminal, the attitude value of the current calculation time is predicted according to the angular velocity value and the attitude value of the previous calculation time, and the attitude value is corrected according to the acceleration and/or the course angle value of the current calculation time, so that the motion trail with high precision can be acquired.

In order to achieve the above object, a mobile terminal according to an embodiment of the third aspect of the present invention includes an apparatus for acquiring a motion trail of the mobile terminal according to an embodiment of the second aspect of the present invention.

According to the mobile terminal provided by the embodiment of the invention, the motion trail with high precision can be obtained by the device for obtaining the motion trail of the mobile terminal.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which,

fig. 1 is a flowchart of a method of acquiring a motion trajectory of a mobile terminal according to an embodiment of the present invention;

fig. 2 is a flowchart of a method of acquiring a motion trajectory of a mobile terminal according to an embodiment of the present invention;

fig. 3 is a block diagram of an apparatus for acquiring a motion trail of a mobile terminal according to an embodiment of the present invention;

FIG. 4 is a block diagram of a modification module according to an embodiment of the present invention; and

fig. 5 is a block diagram of a modification module according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.

In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The following describes a method, a device and a mobile terminal for acquiring a motion trail of the mobile terminal according to an embodiment of the invention with reference to the accompanying drawings.

A method for obtaining a motion trail of a mobile terminal comprises the following steps: acquiring an angular velocity value of the mobile terminal at the last calculation moment and an attitude value at the last calculation moment; predicting a first attitude value at the current computing moment according to the angular velocity value at the last computing moment and the attitude value at the last computing moment; acquiring an acceleration value and/or a course angle value of the mobile terminal at the current calculation moment; correcting the first attitude value at the current calculation moment according to the acceleration value and/or the course angle value at the current calculation moment; and acquiring the motion trail of the mobile terminal according to the corrected first attitude value corresponding to each calculation moment.

Fig. 1 is a flowchart of a method for acquiring a motion trail of a mobile terminal according to an embodiment of the present invention.

As shown in fig. 1, the method for acquiring the motion trail of the mobile terminal includes the following steps.

And step S101, acquiring an angular velocity value of the mobile terminal at the last calculation time and an attitude value at the last calculation time.

And S102, predicting a first attitude value at the current computing time according to the angular velocity value at the last computing time and the attitude value at the last computing time.

In particular, in one embodiment of the present invention, the first attitude value at the current calculation time may be predicted according to the following formula,

${\hat{X}}_{k,k-1}=f({\hat{X}}_{k-1},k-1)=\frac{1}{2}\left[\begin{array}{cccc}0& -p& -q& -r\\ p& 0& r& -q\\ q& -r& 0& p\\ r& q& -p& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ q_3\end{array}\right],$

wherein,

is the first attitude value at the current computing time, p, q, r are the angular velocity values at the last computing time, q₀,q₁,q₂,q₃Is the attitude value of the last calculation time, k is the current calculation time, k-1 is the last calculation time,

the attitude value at the last calculation time (the attitude value is corrected).

And step S103, acquiring an acceleration value and/or a course angle value of the mobile terminal at the current calculation moment.

In one embodiment of the invention, the angular velocity value is obtained by a gyroscope, the acceleration value is obtained by an accelerometer, and the heading angle value is obtained by an electronic compass.

And S104, correcting the first attitude value at the current calculation time according to the acceleration value and/or the course angle value at the current calculation time.

And step S105, acquiring the motion trail of the mobile terminal according to the corrected first attitude value corresponding to each calculation time.

And the first attitude value corrected at each calculation time constitutes the motion trail of the mobile terminal. The finer the division of the calculation time, the more accurate the motion trajectory obtained, while increasing the calculation burden.

According to the method for acquiring the motion trail of the mobile terminal, the attitude value of the current calculation time is predicted according to the angular velocity value and the attitude value of the previous calculation time, and the attitude value is corrected according to the acceleration and/or the course angle value of the current calculation time, so that the motion trail with high precision can be acquired.

Fig. 2 is a flowchart of a method for acquiring a motion trail of a mobile terminal according to an embodiment of the present invention.

As shown in fig. 2, the method for acquiring the motion trail of the mobile terminal includes the following steps.

Step S201, obtaining an angular velocity value of the mobile terminal at a previous calculation time and an attitude value at the previous calculation time.

Step S202, a first attitude value of the current computing time is predicted according to the angular velocity value of the previous computing time and the attitude value of the previous computing time.

In particular, in one embodiment of the present invention, the first attitude value at the current calculation time may be predicted according to the following formula,

${\hat{X}}_{k,k-1}=f({\hat{X}}_{k-1},k-1)=\frac{1}{2}\left[\begin{array}{cccc}0& -p& -q& -r\\ p& 0& r& -q\\ q& -r& 0& p\\ r& q& -p& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ q_3\end{array}\right],$

wherein,is the first attitude value at the current computing time, p, q, r are the angular velocity values at the last computing time, q₀,q₁,q₂,q₃Is the attitude value of the last calculation time, k is the current calculation time, k-1 is the last calculation time,

the attitude value at the last calculation time (the attitude value is corrected).

In one embodiment of the invention, the attitude value at the initial calculation time is obtained by calculating an acceleration value and/or a heading angle value at the initial calculation time.

And step S203, acquiring an acceleration value and/or a course angle value of the mobile terminal at the current calculation moment.

In one embodiment of the invention, the angular velocity value is obtained by a gyroscope, the acceleration value is obtained by an accelerometer, and the heading angle value is obtained by an electronic compass.

Step S204, acquiring a second attitude value Z (x) at the current computing time according to the acceleration value and/or the heading angle value at the current computing time, wherein Z (x) is [ phi theta psi ]]^T。

Step S205, correcting the error variance matrix P according to the last calculation time_k-1Obtaining an error variance matrix P of the current computing moment by a sum process noise matrix Q_k,k-1。

Specifically, an error variance matrix P at the current calculation time is obtained according to the following formula_k,k-1，

<math> <mrow> <msub> <mi>P</mi> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>=</mo> <msub> <mi>&Phi;</mi> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <msub> <mi>P</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <msubsup> <mi>&Phi;</mi> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> <mi>T</mi> </msubsup> <mo>+</mo> <mi>Q</mi> <mo>,</mo> </mrow> </math>

Wherein, <math> <mrow> <msub> <mi>&Phi;</mi> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>f</mi> </mrow> <mrow> <mo>&PartialD;</mo> <msub> <mover> <mi>X</mi> <mo>^</mo> </mover> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mrow> </mfrac> <mo>=</mo> <msub> <mrow> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>f</mi> <mo>[</mo> <msub> <mover> <mi>X</mi> <mo>^</mo> </mover> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> <mo>]</mo> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>X</mi> </mrow> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mfrac> <mo>|</mo> </mrow> <mrow> <msub> <mi>X</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>=</mo> <msub> <mover> <mi>X</mi> <mo>^</mo> </mover> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mrow> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mo>-</mo> <mi>p</mi> </mtd> <mtd> <mo>-</mo> <mi>q</mi> </mtd> <mtd> <mo>-</mo> <mi>r</mi> </mtd> </mtr> <mtr> <mtd> <mi>p</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mi>r</mi> </mtd> <mtd> <mo>-</mo> <mi>q</mi> </mtd> </mtr> <mtr> <mtd> <mi>q</mi> </mtd> <mtd> <mo>-</mo> <mi>r</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mi>p</mi> </mtd> </mtr> <mtr> <mtd> <mi>r</mi> </mtd> <mtd> <mi>q</mi> </mtd> <mtd> <mo>-</mo> <mi>p</mi> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <msub> <mi>q</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>3</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow> </math>

in one embodiment of the invention, the process noise matrix Q is derived from the properties of the gyroscope, accelerometer and electronic compass, wherein the process noise matrix Q is a constant matrix of 4 x 4. The process noise matrix Q is a diagonal matrix, elements on the diagonal are larger than zero, and the process noise matrix Q can be obtained through prediction according to the attributes of a gyroscope, an accelerometer and an electronic compass, and then the optimal parameters are screened through experiments.

Step S206, according to the error variance matrix P of the current calculation time_k,k-1And observing the noise matrix R to obtain the gain matrix K at the current calculation time_k。

Specifically, the gain matrix K at the current calculation time is calculated according to the following formula_k，

$K_k=P_{k,k-1}{H}_k^T{[H_k{P}_{k,k-1}{H}_k^T+R]}^{-1},$

Wherein, <math> <mrow> <msub> <mi>H</mi> <mi>k</mi> </msub> <mo>=</mo> <msub> <mrow> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>X</mi> </mrow> <mi>k</mi> </msub> </mfrac> <mo>|</mo> </mrow> <msub> <mover> <mi>X</mi> <mo>^</mo> </mover> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </msub> <mo>=</mo> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>0</mn> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>1</mn> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>2</mn> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>3</mn> </msub> </mfrac> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow> </math>

<math> <mrow> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>0</mn> </msub> </mfrac> <mo>=</mo> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mfrac> <mrow> <msub> <mrow> <mn>2</mn> <mi>q</mi> </mrow> <mn>1</mn> </msub> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> </mrow> <mrow> <msup> <mrow> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>4</mn> <msup> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>2</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </mfrac> </mtd> </mtr> <mtr> <mtd> <mfrac> <msub> <mrow> <mn>2</mn> <mi>q</mi> </mrow> <mn>2</mn> </msub> <msqrt> <mn>1</mn> <mo>-</mo> <mn>4</mn> <msup> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </msqrt> </mfrac> </mtd> </mtr> <mtr> <mtd> <mfrac> <mrow> <msub> <mrow> <mn>2</mn> <mi>q</mi> </mrow> <mn>3</mn> </msub> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> </mrow> <mrow> <msup> <mrow> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>4</mn> <msup> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </mfrac> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>1</mn> </msub> </mfrac> <mo>=</mo> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mfrac> <mrow> <msub> <mrow> <mn>2</mn> <mi>q</mi> </mrow> <mn>0</mn> </msub> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> <mo>+</mo> <msub> <mrow> <mn>4</mn> <mi>q</mi> </mrow> <mn>1</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>2</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <msup> <mrow> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>4</mn> <msup> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>2</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </mfrac> </mtd> </mtr> <mtr> <mtd> <mfrac> <mrow> <mo>-</mo> <msub> <mrow> <mn>2</mn> <mi>q</mi> </mrow> <mn>3</mn> </msub> </mrow> <msqrt> <mn>1</mn> <mo>-</mo> <mn>4</mn> <msup> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </msqrt> </mfrac> </mtd> </mtr> <mtr> <mtd> <mfrac> <mrow> <msub> <mrow> <mn>2</mn> <mi>q</mi> </mrow> <mn>2</mn> </msub> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> </mrow> <mrow> <msup> <mrow> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>4</mn> <msup> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </mfrac> </mtd> </mtr> </mtable> </mfenced> </mrow> </math>

<math> <mrow> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>2</mn> </msub> </mfrac> <mo>=</mo> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mfrac> <mrow> <msub> <mrow> <mn>2</mn> <mi>q</mi> </mrow> <mn>3</mn> </msub> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> <mo>+</mo> <msub> <mrow> <mn>4</mn> <mi>q</mi> </mrow> <mn>2</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>2</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <msup> <mrow> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>4</mn> <msup> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>2</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </mfrac> </mtd> </mtr> <mtr> <mtd> <mfrac> <msub> <mrow> <mn>2</mn> <mi>q</mi> </mrow> <mn>0</mn> </msub> <msqrt> <mn>1</mn> <mo>-</mo> <mn>4</mn> <msup> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </msqrt> </mfrac> </mtd> </mtr> <mtr> <mtd> <mfrac> <mrow> <mrow> <msub> <mrow> <mn>2</mn> <mi>q</mi> </mrow> <mn>1</mn> </msub> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> </mrow> <mo>+</mo> <msub> <mrow> <mn>4</mn> <mi>q</mi> </mrow> <mn>2</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <msup> <mrow> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>4</mn> <msup> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </mfrac> </mtd> </mtr> </mtable> </mfenced> </mrow> </math>

<math> <mrow> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>3</mn> </msub> </mfrac> <mo>=</mo> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mfrac> <mrow> <msub> <mrow> <mn>2</mn> <mi>q</mi> </mrow> <mn>2</mn> </msub> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> </mrow> <mrow> <msup> <mrow> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>4</mn> <msup> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>2</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </mfrac> </mtd> </mtr> <mtr> <mtd> <mfrac> <mrow> <mo>-</mo> <msub> <mrow> <mn>2</mn> <mi>q</mi> </mrow> <mn>1</mn> </msub> </mrow> <msqrt> <mn>1</mn> <mo>-</mo> <mn>4</mn> <msup> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </msqrt> </mfrac> </mtd> </mtr> <mtr> <mtd> <mfrac> <mrow> <mrow> <msub> <mrow> <mn>2</mn> <mi>q</mi> </mrow> <mn>0</mn> </msub> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> </mrow> <mo>+</mo> <msub> <mrow> <mn>4</mn> <mi>q</mi> </mrow> <mn>3</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <msup> <mrow> <mo>[</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msubsup> <mi>q</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>q</mi> <mn>3</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>]</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <mn>4</mn> <msup> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>+</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </mfrac> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow> </math>

h (x) is the attitude value at the last calculation time, and h (x) is [ phi θ ψ ]]^TPhi, theta and

respectively, attitude values, q, corresponding to different coordinates₀,q₁,q₂,q₃And the sum of the values of phi, theta,

the conversion can be carried out in the following manner,

in one embodiment of the invention, the observed noise matrix R is obtained from the accuracy of the accelerometer and the electronic compass, wherein the observed noise matrix R is a constant matrix of 3 x 3. The observed noise matrix R is also a diagonal matrix and the elements on the diagonal are all greater than zero, e.g., the observed noise matrix R may take its value on the diagonal as the square of the accuracy of the corresponding accelerometer and electronic compass.

Step S207, according to the attitude value h (x) of the previous calculation time, the second attitude value Z (x) of the current calculation time and the gain matrix K_kCalculating the first attitude value of the current time according to the following formula

The correction is carried out so that the correction is carried out,

${\hat{X}}_k={\hat{X}}_{k,k-1}+K_k(Z\left(x\right)-h\left(x\right)),$

wherein,

the first attitude value at the current calculation time after correction.

And step S208, acquiring the motion trail of the mobile terminal according to the corrected first attitude value corresponding to each calculation time.

And the first attitude value corrected at each calculation time constitutes the motion trail of the mobile terminal. The finer the division of the calculation time, the more accurate the motion trajectory obtained, while increasing the calculation burden.

In one embodiment of the present invention, the method further comprises the steps (not shown in the figure): error variance matrix P for current calculation time_k,k-1The correction is made according to the following formula,

P_k=[I-K_kH_k]P_k，k-1，

wherein, P_kThe error variance matrix is corrected for the current computing time.

According to the method for acquiring the motion trail of the mobile terminal, disclosed by the embodiment of the invention, the motion trail with high precision can be further acquired by combining the angular velocity value and the attitude value at the last calculation moment and the acceleration and/or course angular value at the current calculation moment.

An apparatus for obtaining a motion trail of a mobile terminal, comprising: the first acquisition module is used for acquiring the angular velocity value of the mobile terminal at the last calculation moment and the attitude value at the last calculation moment; the prediction module is used for predicting a first attitude value at the current calculation time according to the angular velocity value at the previous calculation time and the attitude value at the previous calculation time; the second acquisition module is used for acquiring an acceleration value and/or a course angle value of the mobile terminal at the current calculation moment; the correction module is used for correcting the first attitude value at the current calculation moment according to the acceleration value and/or the course angle value at the current calculation moment; and the third acquisition module is used for acquiring the motion trail of the mobile terminal according to the corrected first attitude value corresponding to each calculation moment.

Fig. 3 is a block diagram of an apparatus for acquiring a motion trail of a mobile terminal according to an embodiment of the present invention.

As shown in fig. 3, the apparatus for acquiring a motion trail of a mobile terminal includes: a first acquisition module 100, a prediction module 200, a second acquisition module 300, a modification module 400, and a third acquisition module 500.

Specifically, the first obtaining module 100 is configured to obtain an angular velocity value of the mobile terminal at a previous computing time and an attitude value at the previous computing time.

The prediction module 200 is configured to predict a first attitude value at a current computing time according to the angular velocity value at a previous computing time and the attitude value at the previous computing time. In particular, the prediction module 200 may predict a first attitude value at the current computing time according to the following formula,

${\hat{X}}_{k,k-1}=f({\hat{X}}_{k-1},k-1)=\frac{1}{2}\left[\begin{array}{cccc}0& -p& -q& -r\\ p& 0& r& -q\\ q& -r& 0& p\\ r& q& -p& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ q_3\end{array}\right],$

wherein,is the first attitude value at the current computing time, p, q, r are the angular velocity values at the last computing time, q₀,q₁,q₂,q₃Is the attitude value of the last calculation time, k is the current calculation time, k-1 is the last calculation time,

the attitude value at the last calculation time (the attitude value is corrected).

The second obtaining module 300 is configured to obtain an acceleration value and/or a heading angle value of the mobile terminal at a current computing time. Wherein, angular velocity value is obtained through the gyroscope, acceleration value is obtained through the accelerometer, and heading angle value is obtained through the electronic compass.

The correction module 400 is configured to correct the first attitude value at the current computing time according to the acceleration value and/or the heading angle value at the current computing time.

The third obtaining module 500 is configured to obtain a motion trajectory of the mobile terminal according to the corrected first attitude value corresponding to each calculation time.

According to the device for acquiring the motion trail of the mobile terminal, the attitude value of the current calculation time is predicted according to the angular velocity value and the attitude value of the previous calculation time, and the attitude value is corrected according to the acceleration and/or the course angle value of the current calculation time, so that the motion trail with high precision can be acquired.

Fig. 4 is a block diagram of a modification module 400 according to an embodiment of the invention.

As shown in fig. 4, the modification module 400 includes: a first acquisition unit 410, a second acquisition unit 420, a third acquisition unit 430 and a first correction unit 440.

Specifically, the first obtaining unit 410 is configured to obtain a second attitude value z (x) at the current computing time according to an acceleration value and/or a heading angle value at the current computing time, where z (x) [ phi θ ψ ]]^T。

The second obtaining unit 420 is used for correcting the error variance matrix P according to the last calculation time_k-1Obtaining an error variance matrix P of the current computing moment by a sum process noise matrix Q_k，k-1The specific acquisition process may refer to step S205.

The third obtaining unit 430 is used for obtaining the error variance matrix P according to the current computing time_k，k-1And observing the noise matrix R to obtain the gain matrix K at the current calculation time_kThe specific acquisition process may refer to step S206.

The first correcting unit 440 is used for correcting the attitude value h (x) at the previous calculation time, the second attitude value Z (x) at the current calculation time and the gain matrix K_kFor the first attitude value at the current calculation time

The correction is performed, and the specific correction process may refer to step S207.

The exact attitude value at each calculation time can be obtained from the correction module 400.

Fig. 5 is a block diagram of a modification module 400 according to an embodiment of the present invention.

As shown in fig. 5, the modification module 400 further comprises a second modification unit 450 on the basis of the embodiment shown in fig. 4. In particular, the second correction unit 450 is used to correct the error variance matrix P at the current computing time_k，k-1The correction is made according to the following formula,

P_k=[I-K_kH_k]P_k，k-1。

wherein, P_kThe error variance matrix is corrected for the current computing time.

A mobile terminal comprises the device for acquiring the motion trail of the mobile terminal in any embodiment of the invention.

According to the mobile terminal provided by the embodiment of the invention, the motion trail with high precision can be obtained by the device for obtaining the motion trail of the mobile terminal. Therefore, the mobile terminal can also realize other functions related to the movement track.

It should be understood that the motion trail of the mobile terminal obtained according to the embodiment of the present invention may be used in different situations, for example, encryption and unlocking of the mobile terminal may be performed according to the motion trail, and games, applications, and the like may be set by using the motion trail.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (17)

1. A method for obtaining a motion trail of a mobile terminal is characterized by comprising the following steps:

acquiring an angular velocity value of the mobile terminal at the last calculation time and an attitude value at the last calculation time;

predicting a first attitude value at the current computing moment according to the angular velocity value at the last computing moment and the attitude value at the last computing moment;

acquiring an acceleration value and/or a course angle value of the mobile terminal at the current calculation moment;

correcting the first attitude value at the current calculation time according to the acceleration value and/or the course angle value at the current calculation time; and

and acquiring the motion trail of the mobile terminal according to the corrected first attitude value corresponding to each calculation moment.

2. The method of claim 1, wherein the first attitude value for the current computing time is predicted according to the following formula,

${\hat{X}}_{k,k-1}=\frac{1}{2}\left[\begin{array}{cccc}0& -p& -q& -r\\ p& 0& r& -q\\ q& -r& 0& p\\ r& q& -p& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ q_3\end{array}\right],$

wherein,

is the first attitude value of the current computing time, p, q, r is the angular velocity value of the last computing time, q₀，q₁，q₂，q₃And k is the attitude value of the last calculation time, k is the current calculation time, and k-1 is the last calculation time.

3. The method of claim 1, wherein the angular velocity value is obtained by a gyroscope, the acceleration value is obtained by an accelerometer, and the heading angle value is obtained by an electronic compass.

4. The method of claim 2, wherein the modifying the first attitude value at the current computing time based on the acceleration value and/or the heading angle value at the current computing time further comprises:

acquiring a second attitude of the current calculation moment according to the acceleration value and/or the course angle value of the current calculation momentA value Z (x), wherein Z (x) is [ phi theta psi]^T；

Correcting error variance matrix P according to the last calculation time_k-1Obtaining the error variance matrix P of the current calculation time by the sum process noise matrix Q_k,k-1；

According to the error variance matrix P of the current calculation time_k，k-1And observing the noise matrix R to obtain the gain matrix K of the current calculation moment_k(ii) a And

according to the attitude value h (x) of the last calculation time, the second attitude value Z (x) of the current calculation time and the gain matrix K_kCalculating the first attitude value of the current calculation time according to the following formula

The correction is carried out so that the correction is carried out,

${\hat{X}}_k={\hat{X}}_{k,k-1}+K_k(Z\left(x\right)-h\left(x\right)),$

wherein,

h (x) = [ φ θ ψ ] for the first attitude value of the current calculation time after the correction]^TPhi, theta and

respectively, the attitude values corresponding to different coordinates.

5. The method according to claim 4, wherein the error variance matrix P at the current calculation time is obtained according to the following formula_k，k-1，

<math> <mrow> <msub> <mi>P</mi> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>=</mo> <msub> <mi>&Phi;</mi> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <msub> <mi>P</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <msubsup> <mi>&Phi;</mi> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> <mi>T</mi> </msubsup> <mo>+</mo> <mi>Q</mi> <mo>,</mo> </mrow> </math>

Wherein, <math> <mrow> <msub> <mi>&Phi;</mi> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mo>-</mo> <mi>p</mi> </mtd> <mtd> <mo>-</mo> <mi>q</mi> </mtd> <mtd> <mo>-</mo> <mi>r</mi> </mtd> </mtr> <mtr> <mtd> <mi>p</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mi>r</mi> </mtd> <mtd> <mo>-</mo> <mi>q</mi> </mtd> </mtr> <mtr> <mtd> <mi>q</mi> </mtd> <mtd> <mo>-</mo> <mi>r</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mi>p</mi> </mtd> </mtr> <mtr> <mtd> <mi>r</mi> </mtd> <mtd> <mi>q</mi> </mtd> <mtd> <mo>-</mo> <mi>p</mi> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <msub> <mi>q</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>3</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow> </math>

6. the method according to claim 4, wherein the gain matrix K at the current computing time is obtained according to the following formula_k，

$K_k=P_{k,k-1}{H}_k^T{[H_k{P}_{k,k-1}{H}_k^T+R]}^{-1},$

Wherein, <math> <mrow> <msub> <mi>H</mi> <mi>k</mi> </msub> <mo>=</mo> <msub> <mrow> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>X</mi> </mrow> <mi>k</mi> </msub> </mfrac> <mo>|</mo> </mrow> <msub> <mover> <mi>X</mi> <mo>^</mo> </mover> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </msub> <mo>=</mo> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>0</mn> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>1</mn> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>2</mn> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>3</mn> </msub> </mfrac> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow> </math>

7. the method of claim 4, further comprising: error variance matrix P for the current computing time_k，k-1The correction is made according to the following formula,

P_k=[I-K_kH_k]P_k，k-1，

wherein, P_kAnd the corrected error variance matrix of the current calculation time is obtained.

8. The method according to claim 3, characterized in that said process noise matrix Q is obtained from the properties of said gyroscope, said accelerometer and said electronic compass, wherein said process noise matrix Q is a constant matrix of 4 x 4 and said observed noise matrix R is obtained from the accuracy of said accelerometer and said electronic compass, wherein said observed noise matrix R is a constant matrix of 3 x 3.

9. An apparatus for obtaining a motion trail of a mobile terminal, comprising:

the first acquisition module is used for acquiring the angular velocity value of the mobile terminal at the last calculation moment and the attitude value at the last calculation moment;

the prediction module is used for predicting a first attitude value at the current calculation time according to the angular velocity value at the last calculation time and the attitude value at the last calculation time;

the second acquisition module is used for acquiring the acceleration value and/or the course angle value of the mobile terminal at the current calculation moment;

the correction module is used for correcting the first attitude value at the current calculation time according to the acceleration value and/or the course angle value at the current calculation time; and

and the third acquisition module is used for acquiring the motion trail of the mobile terminal according to the corrected first attitude value corresponding to each calculation moment.

10. The apparatus of claim 9, wherein the prediction module predicts the first attitude value for the current computing time according to the following equation,

${\hat{X}}_{k,k-1}=\frac{1}{2}\left[\begin{array}{cccc}0& -p& -q& -r\\ p& 0& r& -q\\ q& -r& 0& p\\ r& q& -p& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ q_3\end{array}\right]$

wherein,

is the first attitude value of the current computing time, p, q, r is the angular velocity value of the last computing time, q₀，q₁，q₂，q₃And k is the attitude value of the last calculation time, k is the current calculation time, and k-1 is the last calculation time.

11. The apparatus of claim 9, wherein the angular velocity value is obtained by a gyroscope, the acceleration value is obtained by an accelerometer, and the heading angle value is obtained by an electronic compass.

12. The apparatus of claim 10, wherein the modification module comprises:

a first obtaining unit, configured to obtain a second attitude value z (x) at the current computing time according to the acceleration value and/or the heading angle value at the current computing time, where z (x) [ phi θ ψ ]]^T；

A second obtaining unit for correcting the error variance matrix P according to the last calculation time_k-1Obtaining the error variance matrix P of the current calculation time by the sum process noise matrix Q_k,k-1；

A third obtaining unit for obtaining an error variance matrix P according to the current calculation time_k,k-1And observing the noise matrix R to obtain the gain matrix K of the current calculation moment_k(ii) a And

a first correction unit for correcting the attitude value h (x) at the previous calculation time, the second attitude value Z (x) at the current calculation time, and the gain matrix K_kCalculating the first attitude value of the current calculation time according to the following formula

The correction is carried out so that the correction is carried out,

${\hat{X}}_k={\hat{X}}_{k,k-1}+K_k(Z\left(x\right)-h\left(x\right))$

wherein,

h (x) = [ φ θ ψ ] for the first attitude value of the current calculation time after the correction]^TPhi, theta andrespectively, the attitude values corresponding to different coordinates.

13. The apparatus according to claim 12, wherein the second obtaining unit obtains the error variance matrix P at the current calculation time according to the following formula_k，k-1，

<math> <mrow> <msub> <mi>P</mi> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>=</mo> <msub> <mi>&Phi;</mi> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <msub> <mi>P</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <msubsup> <mi>&Phi;</mi> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> <mi>T</mi> </msubsup> <mo>+</mo> <mi>Q</mi> <mo>,</mo> </mrow> </math>

Wherein, <math> <mrow> <msub> <mi>&Phi;</mi> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mo>-</mo> <mi>p</mi> </mtd> <mtd> <mo>-</mo> <mi>q</mi> </mtd> <mtd> <mo>-</mo> <mi>r</mi> </mtd> </mtr> <mtr> <mtd> <mi>p</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mi>r</mi> </mtd> <mtd> <mo>-</mo> <mi>q</mi> </mtd> </mtr> <mtr> <mtd> <mi>q</mi> </mtd> <mtd> <mo>-</mo> <mi>r</mi> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mi>p</mi> </mtd> </mtr> <mtr> <mtd> <mi>r</mi> </mtd> <mtd> <mi>q</mi> </mtd> <mtd> <mo>-</mo> <mi>p</mi> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <msub> <mi>q</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>q</mi> <mn>3</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow> </math>

14. the apparatus according to claim 12, wherein the third obtaining unit obtains the gain matrix K at the current computing time according to the following formula_k，

$K_k=P_{k,k-1}{H}_k^T{[H_k{P}_{k,k-1}{H}_k^T+R]}^{-1},$

Wherein, <math> <mrow> <msub> <mi>H</mi> <mi>k</mi> </msub> <mo>=</mo> <msub> <mrow> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>X</mi> </mrow> <mi>k</mi> </msub> </mfrac> <mo>|</mo> </mrow> <msub> <mover> <mi>X</mi> <mo>^</mo> </mover> <mrow> <mi>k</mi> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </msub> <mo>=</mo> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>0</mn> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>1</mn> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>2</mn> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <mo>&PartialD;</mo> <mi>h</mi> </mrow> <msub> <mrow> <mo>&PartialD;</mo> <mi>q</mi> </mrow> <mn>3</mn> </msub> </mfrac> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow> </math>

15. the apparatus of claim 12, wherein the correction module further comprises:

a second correction unit for correctingSaid error variance matrix P at a pre-computed time instant_k，k-1The correction is made according to the following formula,

P_k=[I-K_kH_k]P_k，k-1。

and Pk is a correction error variance matrix of the current calculation time.

16. The apparatus according to any of the claims 11, wherein the process noise matrix Q is obtained from the properties of the gyroscope, the accelerometer and the electronic compass, wherein the process noise matrix Q is a 4 x 4 constant matrix and the observation noise matrix R is obtained from the accuracy of the accelerometer and the electronic compass, wherein the observation noise matrix R is a 3 x 3 constant matrix.

17. A mobile terminal characterized by having means for obtaining a motion profile of the mobile terminal as claimed in any one of claims 9-16.

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