In response to the problem of low accuracy of step counting algorithm using inertial measurement unit(IMU)under the condition of multiple pedestrians caused by false zero,a backward window filtering optimization step counting method is proposed.Firstly,Butterworth low-pass filtering is used to smooth the three axis acceleration and angular velocity output by the IMU,and the resultant acceleration modulus and resultant angular velocity modulus are calculated separately.Then,the initial step recognition array is obtained using threshold and zero velocity detection algorithms.Finally,by calculating the average number of steps in the backward window,the step recognition array is rounded and optimized to eliminate the interference problem of false zero in zero velocity detection.The IMU is installed on the feet of six participants,and the experimental verification is carried out with continuous multiple walking activities under single or multi-pedestrian conditions.The experimental results show that the proposed method has an average step counting accuracy of 99.8％.Compared with the multi-source information adaptive step detection method,the accuracy of the proposed method is improved by 28.5％,which has high step counting accuracy.
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