Electronic apparatus of estimation of movement direction and method thereof

1. An electronic apparatus comprising:

an acceleration sensor configured to sense acceleration data based on a movement of user of the electronic apparatus;

a geomagnetic sensor configured to sense geomagnetic data;

a gyro sensor configured to sense gyro data; and

a processor configured to:

obtain a first rotation angle according to rotation state of at least one of x, y, and z axes based on the geomagnetic data of the geomagnetic sensor, for tracking a relative change in a posture of the user in a previous state,

obtain a second rotation angle according to rotation state of at least one of x, y, and z axes based on the gyro data of the gyro sensor, for obtaining an absolute data,

obtain a difference between the first rotation angle and the second rotation angle,

when the difference between the first rotation angle and the second rotation angle is smaller than a threshold, correct the gyro data periodically based on the geomagnetic data of a time point which the geomagnetic data is not deviated, for reducing an error of the gyro sensor,

obtain a first value based on a principal component analysis (PCA) of the acceleration data of the acceleration sensor,

obtain a second value based on a PCA of the corrected gyro data, and

estimate a moving direction the user based on an average value of the first value and the second value,

wherein the processor is further configured to:

obtain the first value and the second value in predetermined section units, wherein the section units comprise at least one step of the user,

identify the section units based on a Z axis value included in the acceleration data, and

estimate the moving direction based on the average value of the first value and the second value in each section unit.

2. The electronic apparatus of claim 1 , wherein the processor is further configured to, when the difference between the first value and the second value exceeds a predetermined range in a specific section, estimate the moving direction of the electronic apparatus based on the average value acquired in a previous section.

3. The electronic apparatus of claim 1 , wherein the processor is further configured to:

convert a first acceleration vector included in the acceleration data to a second acceleration vector of a global coordinate system, and

convert a first gyroscope vector included in the corrected gyro data to a second gyroscope vector of the global coordinate system,

wherein the first value and the second value are obtained based on applying the PCA to the second acceleration vector and the second gyroscope vector.

4. The electronic apparatus of claim 3 , wherein the processor is further configured to:

calculate a rotation matrix based on a geomagnetic vector included in the geomagnetic data, a third acceleration vector included in the acceleration data, and a third gyroscope vector included in the corrected gyro data,

convert the third acceleration vector to a fourth acceleration vector of the global coordinate system based on the rotation matrix, and

convert the third gyroscope vector to a fourth gyroscope vector of the global coordinate system based on the rotation matrix.

5. The electronic apparatus of claim 4 ,

wherein the processor is further configured to: identify a current posture of the electronic apparatus based on the geomagnetic data and the acceleration data, and

wherein the rotation matrix is further calculated based on the current posture.

6. The electronic apparatus of claim 5 , wherein the processor is further configured to:

acquire a first yaw pattern based on the geomagnetic data and the acceleration data,

acquire a second yaw pattern based on the corrected gyro data, and

identify a reliability of the current posture based on whether a Euclidean distance between the first yaw pattern and the second yaw pattern is smaller than a threshold.

7. A method of an electronic apparatus including an acceleration sensor, a geomagnetic sensor and a gyro sensor comprising:

obtaining an acceleration data based on a movement of user of the electronic apparatus;

obtaining a first rotation angle according to rotation state of at least one of x, y, and z axes based on geomagnetic data of the geomagnetic sensor, for tracking a relative change in a posture of the user in a previous state;

obtaining a second rotation angle according to rotation state of at least one of x, y, and z axes based on gyro data of the gyro sensor, for obtaining an absolute data;

obtaining a difference between the first rotation angle and the second rotation angle;

when the difference between the first rotation angle and the second rotation angle is smaller than a threshold, correcting the gyro data periodically based on the geomagnetic data of a time point which the geomagnetic data is not deviated, for reducing an error of the gyro sensor;

obtaining a first value based on a principal component analysis (PCA) of the acceleration data of the acceleration sensor;

obtaining a second value based on a PCA of the corrected gyro data; and

estimating a moving direction of the user based on an average value of the first value and the second value,

wherein the method further comprising:

obtaining the first value and the second value in predetermined section units, wherein the section units comprise at least one step of the user,

identifying the section units based on a Z axis value included in the acceleration data, and

estimating the moving direction based on the average value of the first value and the second value in each section unit.

8. The method of claim 7 , wherein the estimating of the moving direction comprises, when the difference between the first value and the second value exceeds a predetermined range in a specific section, estimating the moving direction based on the average value acquired in a previous section.

9. The method of claim 7 , further comprising:

converting a first acceleration vector included in the acceleration data to a second acceleration vector of a global coordinate system; and

converting a first gyroscope vector included in the corrected gyro data to a second gyroscope vector of the global coordinate system,

wherein the first value and the second value are obtained based on applying the PCA to the second acceleration vector and the second gyroscope vector.

10. The method of claim 9 , further comprising:

calculating a rotation matrix based on a geomagnetic vector included in the geomagnetic data, a third acceleration vector included in the acceleration data, and a third gyroscope vector included in the corrected gyro data

converting the third acceleration vector to a fourth acceleration vector of the global coordinate system based on the rotation matrix; and

converting the third gyroscope vector to a fourth gyroscope vector of the global coordinate system based on the rotation matrix.

11. The method of claim 10 , further comprising identifying a current posture of the electronic apparatus based on the geomagnetic data and the acceleration data, wherein the rotation matrix is further calculated based on the current posture.

12. The method of claim 11 , further comprising:

acquiring a first yaw pattern based on the geomagnetic data and the acceleration data;

acquiring a second yaw pattern based on the corrected gyro data; and

identifying a reliability of the current posture based on whether a Euclidean distance between the first yaw pattern and the second yaw pattern is smaller than a threshold.

13. A non-transitory computer-readable medium storing computer instructions for making an electronic apparatus perform operations executed by a processor of the electronic apparatus including an acceleration sensor, a geomagnetic sensor and a gyro sensor, wherein the operations comprise:

obtaining an acceleration data based on a movement of user of the electronic apparatus;

obtaining a first rotation angle according to rotation state of at least one of x, y, and z axes based on geomagnetic data of the geomagnetic sensor, for tracking a relative change in a posture of the user in a previous state;

obtaining a second rotation angle according to rotation state of at least one of x, y, and z axes based on gyro data of the gyro sensor, for obtaining an absolute data;

obtaining a difference between the first rotation angle and the second rotation angle;

when the difference between the first rotation angle and the second rotation angle is smaller than a threshold, correcting the gyro data periodically based on the geomagnetic data of a time point which the geomagnetic data is not deviated, for reducing an error of the gyro sensor;

obtaining a first value based on a principal component analysis (PCA) of the acceleration data of the acceleration sensor;

obtaining a second value based on a PCA of the corrected gyro data; and

estimating a moving direction of the user based on an average value of the first value and the second value,

wherein the operations further comprise:

obtaining the first value and the second value in predetermined section units, wherein the section units comprise at least one step of the user,

identifying the section units based on a Z axis value included in the acceleration data, and

estimating the moving direction based on the average value of the first value and the second value in each section unit.