CN111811471A - Barometer calibration method, tag height determination method, tag and UWB positioning system - Google Patents
Barometer calibration method, tag height determination method, tag and UWB positioning system Download PDFInfo
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- CN111811471A CN111811471A CN202010593257.8A CN202010593257A CN111811471A CN 111811471 A CN111811471 A CN 111811471A CN 202010593257 A CN202010593257 A CN 202010593257A CN 111811471 A CN111811471 A CN 111811471A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The invention provides a barometer calibration method, a tag height determination method, a tag and a UWB positioning system, wherein the barometer calibration method comprises the following steps: determining first error estimation information for the barometer based on: second error estimation information of the barometer, first altitude information measured by the tag at a first time, and first measurement information measured by the barometer at the first time; wherein the first error estimate information is indicative of an estimate of a drift error of the barometer at a first time, and the second error estimate information is indicative of an estimate of a drift error of the barometer at a second time, the second time being before the first time. By the method and the device, the problem of poor accuracy of determining the height of the label in the related technology is solved, and the effect of improving the accuracy of determining the height of the label is achieved.
Description
Technical Field
The invention relates to the field of navigation, in particular to a barometer calibration method, a tag height determination method, a tag and a UWB positioning system.
Background
In the UWB positioning process, on one hand, the positioning base station in the UWB system can be used for ranging the tag, and further the position information and the height information of the tag are obtained; however, when the user carrying the tag moves in the three-dimensional area, the height of the user is in a state of being possibly changed in real time, and at this time, the accuracy of determining the height information of the tag through the ranging of the positioning base station is greatly affected.
For this reason, the related art carries a barometer on a tag to make the determination of the altitude. The barometer can provide high-precision height information, but the barometer has a slowly changing drift error during use, and the drift error causes the problem that the measurement value of the barometer has low precision.
In view of the above problem in the related art that the accuracy of determining the height of the tag is not good, no effective solution has been proposed in the related art.
Disclosure of Invention
The embodiment of the invention provides a barometer calibration method, a tag height determination method, a tag and a UWB positioning system, which are used for at least solving the problem of poor accuracy of tag height determination in the related technology.
According to an embodiment of the present invention, there is provided a barometer calibration method applied to a barometer, the barometer being carried in a tag, the method including:
determining first error estimation information for the barometer based on: second error estimation information of the barometer, first altitude information measured by the tag at a first time, and first measurement information measured by the barometer at the first time;
wherein the first error estimate information is indicative of an estimate of a drift error of the barometer at a first time, and the second error estimate information is indicative of an estimate of a drift error of the barometer at a second time, the second time being before the first time.
According to another embodiment of the present invention, there is also provided a label height determining method, to which the barometer calibration method of the above embodiment is applied, the method including:
determining a vertical precision factor (VDOP) of the tag at the first time instant;
determining the height of the label through calibration information according to the VDOP; wherein the calibration information is used to indicate a height value obtained after calibrating the first measurement information according to the first error estimation information.
There is also provided, in accordance with another embodiment of the present invention, a tag carrying a barometer, the tag being configured to:
determining first error estimation information for the barometer based on: second error estimation information of the barometer, first altitude information measured by the tag at a first time, and first measurement information measured by the barometer at the first time;
wherein the first error estimate information is indicative of an estimate of a drift error of the barometer at a first time, and the second error estimate information is indicative of an estimate of a drift error of the barometer at a second time, the second time being before the first time.
According to another embodiment of the present invention, there is also provided a UWB positioning system including the tag in the above-described embodiment, the UWB positioning system further including:
a plurality of positioning base stations configured to perform ranging on the tag;
the tag is further configured to determine a vertical precision factor VDOP of the tag at the first time instant; determining the height of the label through calibration information according to the VDOP; wherein the calibration information is used to indicate a height value obtained after calibrating the first measurement information according to the first error estimation information.
According to another embodiment of the present invention, a computer-readable storage medium is also provided, in which a computer program is stored, wherein the computer program is configured to perform the steps of any of the above-described method embodiments when executed.
According to another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
With the present invention, since the first altitude information measured at the first time and the first measurement information measured at the first time by the barometer can be tagged based on the second error estimation information of the barometer indicating the estimated value of the drift error of the barometer at the second time before the first time to determine the first error estimation information of the barometer indicating the estimated value of the drift error of the barometer at the first time. Therefore, the barometer calibration method in this embodiment can solve the problem of poor accuracy in determining the height of the tag in the related art, so as to achieve the effect of improving the accuracy in determining the height of the tag.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a system architecture diagram of a UWB positioning system provided in accordance with an embodiment of the invention;
FIG. 2 is a flow chart of a barometer calibration method provided in accordance with an embodiment of the invention;
fig. 3 is a flowchart of a method for determining a height of a tag according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
To further explain the barometer calibration method, the tag height determination method, the tag, and the UWB positioning system in the embodiments of the present invention, the following description is made on application scenarios of the barometer calibration method, the tag height determination method, the tag, and the UWB positioning system in the embodiments of the present invention:
fig. 1 is a system architecture diagram of a UWB positioning system according to an embodiment of the present invention, and as shown in fig. 1, the UWB positioning system according to an embodiment of the present invention includes a tag 102 and a plurality of positioning base stations 104, and the positioning base stations may determine a distance between the tag and any one of the positioning base stations through interaction of data frames with the tag, or determine a distance difference between the tag and any two of the positioning base stations, so that a position of the tag may be determined through interaction of data frames between the plurality of positioning base stations and the tag, thereby implementing positioning of the tag. The above-described process of determining the location of the tag is known to those skilled in the art and will not be described herein.
In the above process of positioning the tag, the position of the tag determined in the process of positioning the tag further includes the height of the tag. For the height of the tag, on one hand, the height can be obtained through ranging of the positioning base station, but when the tag is located in a three-dimensional area, for example, an area where a stair in a certain mall is located, and the tag moves, the height is in a state of being possibly changed in real time, and the accuracy of determining the height information of the tag through ranging of the positioning base station is greatly influenced; on the other hand, direct measurement can also be performed by a barometer carried in the tag, but the barometer has a slowly changing drift error during use, and the drift error causes the problem that the measurement value of the barometer has low precision.
In view of the above, embodiments of the present invention provide a barometer calibration method, a tag height determination method, a tag, and a UWB positioning system, so as to improve the accuracy of determining the tag height. The barometer calibration method, the tag height determination method, the tag, and the UWB positioning system in the embodiments of the invention are explained as follows:
example 1
An embodiment of the present invention provides a barometer calibration method, which is applied to a barometer, where the barometer is carried in a tag, fig. 1 is a flowchart of the barometer calibration method provided in an embodiment of the present invention, and as shown in fig. 1, the barometer calibration method in this embodiment includes:
s102, determining first error estimation information of the barometer according to the following objects: second error estimation information of the barometer, first height information measured by the tag at a first time, and first measurement information measured by the barometer at the first time;
wherein the first error estimation information is indicative of an estimated value of a drift error of the barometer at a first time, and the second error estimation information is indicative of an estimated value of a drift error of the barometer at a second time, the second time being before the first time.
It should be noted that, in the embodiment of the present invention, the first height information obtained by measuring the tag at the first time indicates a measurement value obtained by actually measuring the tag in the process of positioning the tag at the first time; in an alternative embodiment, the first altitude information is determined by a plurality of positioning base stations ranging the tag at a first time. The first height information may be obtained by a tag or a calculation unit mounted on another device. In an embodiment of the present invention, the first measurement information measured by the barometer at the first time indicates a measurement value actually measured by the barometer at the first time, and in one example, the measurement value may be determined by a reading of the barometer, and in another example, the measurement value may be determined by a signal of the barometer read by a resolution unit mounted on a tag or other device. The first measurement information may be obtained by a tag or a solution unit mounted on another device.
In the barometer calibration method according to an embodiment of the invention, the determination of the error estimation information of the barometer is performed iteratively, in an example, a next time of the first time is defined as a third time, and for the third time, based on the first error estimation information of the barometer, the altitude information measured at the third time is labeled, the measurement information measured by the barometer at the third time is used to determine an estimated value of the drift error of the barometer at the third time, that is, the third time is used as the first time in the embodiment of the invention, the original first time is used as the second time in the embodiment of the invention, and correspondingly, the altitude information measured by the label at the third time is used as the first altitude information, and the measurement information measured by the barometer at the third time is used as the first measurement information, so that the new first time of the barometer is realized, i.e. the determination of the estimated value of the drift error at the third moment in time.
Therefore, the first time and the second time in the embodiment of the present invention are not limited to a certain two fixed times, and are only used to indicate any two times distributed back and forth in the time sequence during the movement of the tag; in the moving process of the tag, the estimated value of the drift error of the barometer at any moment can be determined according to the estimated value of the drift error of the barometer at the last moment, the height information measured by the tag at the current moment and the measurement information measured by the barometer at the current moment. It should be noted that the first time and the second time may be continuous times or discontinuous times, which is not limited in the embodiment of the present invention.
The following description will be made of a determination process for first error estimation information:
in an alternative embodiment, the first error estimate information for the barometer is determined based on the following information, comprising:
determining first error measurement information of the barometer at a first moment according to the difference value between the first height information and the first measurement information;
second error estimation information is determined based on the second error estimation information and the first error measurement information.
It should be noted that the difference between the first height information and the first measurement information is the actual error of the barometer at the first time, i.e. the first error measurement information in the above alternative embodiment. The embodiment of the invention determines the second error estimation information by using the first error measurement information and the second error estimation information. In an alternative embodiment, the second error estimation information may be determined by:
determining first error estimation information according to the first error measurement information and a preset first weight, and according to the second error estimation information and a preset second weight; wherein the first weight is less than the second weight.
In one example, the first weight may be 0.1, the second weight may be 0.9, and the second error estimation information is 0.9 × the second error estimation information +0.1 × the first error measurement information.
With the embodiments of the present invention, since the first error estimation information of the barometer indicating the estimated value of the drift error of the barometer at the first time can be determined based on the second error estimation information of the barometer indicating the estimated value of the drift error of the barometer at the second time before the first time, the first altitude information measured at the first time and the first measurement information measured at the first time by the barometer. Therefore, the barometer calibration method in the embodiment of the invention can estimate the drift error of the barometer in an iterative manner, and further can effectively determine the drift error of the barometer at each moment so as to realize calibration of the barometer, so that the accuracy of the value calibrated by the barometer relative to the actual height is obviously improved. Therefore, the barometer calibration method in this embodiment can solve the problem of poor accuracy in determining the height of the tag in the related art, so as to achieve the effect of improving the accuracy in determining the height of the tag.
It should be noted that the barometer calibration method in the embodiment of the present invention may be used in each link of a positioning process of a UWB system, that is, at any time when the tag height needs to be determined, the barometer may be calibrated by the barometer calibration method in the embodiment of the present invention, so as to determine the tag height. For the initialization time of the UWB system, since the drift error of the barometer at the initialization time is low, the measurement value of the barometer may be directly determined as the height value of the tag, or the tag may be measured by a plurality of positioning base stations to determine the height value of the tag.
In the embodiment of the invention, before the first error estimation information is determined, the second error estimation information needs to be determined. In the embodiment of the present invention, the tags may be located in the same area at the first time and the second time, or may be located in different areas. On the one hand, for the case that the first time and the second time are located in the same area, the process of determining the second error estimation information may be to determine the second error estimation information according to the estimated value of the drift error of the barometer at the previous time of the second time and the altitude information measured by the tag at the second time, and the measurement information measured by the barometer at the second time to determine the second error estimation information, that is, according to the process of the foregoing iteration, the second time is used as a new first time, and the previous time of the second time is used as a new second time, so as to determine the second error estimation information according to the method in step S102.
On the other hand, in the case where the tag is located in the first area at the first time and the tag is located in the second area at the second time, the tag is switched to the areas with different heights at the first time, and therefore, the second error estimation information corresponding to the second time can be determined according to the second height information obtained by the tag at the second time and the second measurement information obtained by the barometer at the second time.
It should be noted that, in an example, the first area is a three-dimensional area, the second area is a two-dimensional area, and the label is located in the two-dimensional area at the second time, until the label is located in the three-dimensional area at the first time, that is, the label enters the three-dimensional area in the two-dimensional area, for example, the label is located on the second floor of a mall at the second time, and enters a staircase leading to the third floor at the second floor at the first time, where the second area of the mall is the second area, and the staircase is the first area. In the above example, since the height value of the two-dimensional area is relatively constant, the problem that the measurement accuracy is low due to the real-time change of the height value does not exist for the two-dimensional area, so that the height of the tag in the second area can be directly determined according to the second height information obtained by the tag at the second time, and the second error estimation information can be determined by matching with the second measurement information obtained by the barometer at the second time.
It should be noted that the above-mentioned situation is not limited to switching between the two-dimensional area and the three-dimensional area, and when the label is located between the two three-dimensional areas with different heights and the Vertical Precision factor (VDOP) Of the three-dimensional area located at the second time is high, the second error estimation information may be determined according to the barometer calibration method described in the above-mentioned step S102 or according to the barometer calibration method in any optional embodiment.
In an alternative embodiment, the second altitude information is determined by a plurality of positioning base stations ranging the tag at the second time, or the second altitude information is determined by a preset altitude of the second area.
In an optional embodiment, in the case that the second area is a two-dimensional area, the second height information is determined by a preset height of the second area; wherein the preset height is a constant height value.
It should be noted that, in an example, the second altitude information may be determined by multiple positioning base stations ranging the tag at the second time; in another example, in the case that the second area is a two-dimensional area, the second height information may be obtained by predetermining the height of the area and calibrating the determined height as the preset height of the area during the deployment of the UWB system. In the process of positioning the label, when the label is positioned in the second area, the height of the label can be directly determined to be the preset height.
In an optional embodiment, in a case where the tag does not measure the first height information at the first time, the method further comprises:
the second error estimate information is taken as the first error estimate information.
It should be noted that, often, the positioning base station in the UWB system cannot measure and obtain the height of the tag at the critical time when the tag enters the first area from the second area, and in the case that the first time is the critical time, the first error measurement information cannot be determined because the first height information cannot be obtained. Therefore, in the above situation, the second error estimation information can be directly determined as the first error estimation information, and then the iterative calculation is performed by using the first error estimation information in the subsequent tag motion process.
In an alternative embodiment, before determining the first error estimation information of the barometer according to the following object, the method further comprises:
the method comprises the steps that the labels are subjected to ranging through a plurality of positioning base stations to determine first position information of the labels, and a first area is determined according to the first position information;
before determining the second error estimation information according to the second altitude information obtained by the tag at the second time and the second measurement information measured by the barometer at the second time, the method further includes:
and the plurality of positioning base stations are used for ranging the tags to determine second position information of the tags, and a second area is determined according to the second position information.
It should be noted that, the location of the tag determined by the multiple location base stations in the UWB system during the process of locating the tag may be determined, i.e., a region where the tag is located, such as a first region or a second region, so as to determine the regions where the tag is located at the first time and the second time, respectively, and further determine the determination method of the second error estimation information.
The barometer calibration method in an embodiment of the invention is illustrated by an exemplary embodiment.
Exemplary embodiment 1
At a second time t0, the tag is located in the two-dimensional area, and the second error estimation information determined by the tag in the two-dimensional area is +0.05 m.
At a first time t1, the label moves from the two-dimensional area to the three-dimensional area, and the height of the three-dimensional area is set to 1 m. Since the tag has not yet been UWB positioned at time t1, +0.05m is directly taken as an estimate of the drift error of the barometer at time t 1. Therefore, the drift error of the barometer is estimated to be +0.05m at time t 1.
At a third time t2, when the tag moves in the current area, the height obtained by positioning and measuring the tag by the UWB system is 1.2m, the measurement value obtained by measuring by the barometer is 1m, and the error measurement value of the barometer should be 1.2m-1m +0.2m, and the drift error estimation value of the barometer is 0.05 mx 0.9+0.2 mx 0.1 +0.065m according to the preset weight.
At a fourth time t3, when the tag moves in the current area, the height obtained by positioning and measuring the tag by the UWB system is 0.9m, the measurement value obtained by measuring by the barometer is 1m, and the error measurement value of the barometer is 0.9m-1 m-0.1 m, and the drift error estimation value of the barometer is 0.065 mx 0.9-0.1 mx 0.1 +0.0485m according to the preset weight.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
Example 2
The present embodiment provides a method for determining a height of a tag, which applies the barometer calibration method in embodiment 1, and fig. 3 is a flowchart of the method for determining a height of a tag according to the embodiment of the present invention, as shown in fig. 3, the method for determining a height of a tag in the present embodiment includes:
s202, determining a VDOP of the tag at a first moment;
s204, determining the height of the label through the calibration information according to the VDOP; the calibration information is used for indicating a height value obtained after the first measurement information is calibrated according to the first error estimation information.
It should be noted that other optional embodiments and technical effects of the method for determining a tag height in the embodiment of the present invention all correspond to embodiment 1, and therefore, are not described herein again.
It should be noted that the calibration information is a height value obtained by calibrating first measurement information actually measured by the barometer at a first time according to the first error estimation information of the barometer determined in the foregoing embodiment, for example, if the first error estimation information is 0.05m, and the first measurement information is 1m, the calibration information is 1.05 m.
It should be noted that the above-mentioned VDOP is a vertical component precision factor indicating an area where the tag is located at the second time, and the larger the VDOP is, the larger the positioning error in the vertical direction in the positioning process is, and conversely, the smaller the VDOP is, the smaller the positioning error in the vertical direction in the positioning process is. Thus, in an alternative embodiment, the height of the tag may be determined by calibration information in the event that VDOP is greater than or equal to a preset threshold. Therefore, the problem that when the VDOP is too large, the UWB system has a large positioning error can be avoided, and the height of the tag is determined through the calibration information. In another alternative embodiment, the height of the tag is determined from the first height information in case VDOP is smaller than a preset threshold. Therefore, the VDOP is small, the UWB system has small positioning error, and the height of the tag can be directly measured.
It should be noted that, in the process that the tag is located in the two-dimensional area at the second time until the first time is located in the three-dimensional area, that is, in the case that the tag enters the three-dimensional area in the two-dimensional area, for example, the first time is the initial time when the tag enters the three-dimensional area, the system has not executed step S202, that is, the VDOP when the tag is located in the three-dimensional area is not determined; at this time, the height of the tag can be determined by the calibration information regardless of the relationship between VDOP and the preset and threshold values.
Similarly, when the tag moves between two three-dimensional areas with different VDOPs, that is, the tag is moved from the original three-dimensional area to the initial state of the updated three-dimensional area, the system has not executed the above S202, that is, the VDOP when the tag is located in the updated second area is determined; at this time, the height of the tag can be determined by the calibration information regardless of the relationship between VDOP and the preset and threshold values.
By the method for determining the height of the tag, when the height is determined, the method can be used for determining the height of the tag by combining the positioning measurement of the UWB system and the measurement of the barometer, so that the accuracy of determining the height of the tag is further improved.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
Example 3
The embodiment of the invention also provides a UWB positioning system, wherein the system framework of the UWB positioning system is shown in figure 1; as shown in fig. 1, the UWB positioning system in the embodiment of the present invention includes:
a tag 102 carrying a barometer 1022; the tag is configured to:
determining first error estimation information for the barometer based on: second error estimation information of the barometer, first height information measured by the tag at a first time, and first measurement information measured by the barometer at the first time;
wherein the first error estimation information is indicative of an estimated value of a drift error of the barometer at a first time, and the second error estimation information is indicative of an estimated value of a drift error of the barometer at a second time, the second time being before the first time.
The UWB positioning system in this embodiment further includes:
a plurality of positioning base stations 104 configured to perform ranging for the tag;
It should be noted that other optional embodiments and technical effects of the tag in the UWB positioning system in the embodiment of the present invention correspond to those in embodiments 1 and 2, and therefore, detailed description thereof is omitted here.
Example 4
Embodiments of the present invention also provide a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to perform the steps of any of the above-mentioned method embodiments when executed.
Alternatively, in the present embodiment, the computer-readable storage medium may be configured to store a computer program for executing the computer program in the above-described embodiment.
Optionally, in this embodiment, the computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Example 5
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Alternatively, in this embodiment, the processor may be configured to execute the steps in the above embodiments through a computer program.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A barometer calibration method for use with a barometer, the barometer carried in a tag, the method comprising:
determining first error estimation information for the barometer based on: second error estimation information of the barometer, first altitude information measured by the tag at a first time, and first measurement information measured by the barometer at the first time;
wherein the first error estimate information is indicative of an estimate of a drift error of the barometer at a first time, and the second error estimate information is indicative of an estimate of a drift error of the barometer at a second time, the second time being before the first time.
2. The method of claim 1, wherein determining the first error estimate information for the barometer based on the following information comprises:
determining first error measurement information of the barometer at the first time according to a difference between the first height information and the first measurement information;
and determining the second error estimation information according to the second error estimation information and the first error measurement information.
3. The method of claim 2, wherein determining the second error estimate information based on the second error estimate information and the first error measurement information comprises:
determining the first error estimation information according to the first error measurement information and a preset first weight, and the second error estimation information and a preset second weight; wherein the first weight is less than the second weight.
4. A method according to any one of claims 1 to 3, wherein the first altitude information is determined by a plurality of positioning base stations ranging the tag at the first time.
5. The method of any of claims 1 to 3, wherein, in a case where the tag is located in a first area at the first time and the tag is located in a second area at the second time, the determining the first error estimation information of the barometer further comprises:
determining the second error estimation information according to second height information obtained by the tag at the second moment and second measurement information obtained by the barometer at the second moment;
wherein the first region and the second region are regions having different heights.
6. A label height determination method, characterized in that the barometer calibration method as claimed in any of claims 1 to 5 is applied, the method comprising:
determining a vertical precision factor (VDOP) of the tag at the first time instant;
determining the height of the label through calibration information according to the VDOP; wherein the calibration information is used to indicate a height value obtained after calibrating the first measurement information according to the first error estimation information.
7. The method of claim 6, wherein said determining the height of said tag from said VDOP via calibration information comprises:
determining the height of the tag through the calibration information in case that the VDOP is greater than or equal to a preset threshold.
8. The method according to claim 6 or 7, wherein said determining the height of said tag from said VDOP by calibration information further comprises:
and under the condition that the VDOP is smaller than a preset threshold value, determining the height of the label according to the first height information.
9. A tag carrying a barometer, the tag configured to:
determining first error estimation information for the barometer based on: second error estimation information of the barometer, first altitude information measured by the tag at a first time, and first measurement information measured by the barometer at the first time;
wherein the first error estimate information is indicative of an estimate of a drift error of the barometer at a first time, and the second error estimate information is indicative of an estimate of a drift error of the barometer at a second time, the second time being before the first time.
10. A UWB positioning system comprising the tag of claim 12, the UWB positioning system further comprising:
a plurality of positioning base stations configured to perform ranging on the tag;
the tag is further configured to determine a vertical precision factor VDOP of the tag at the first time instant; determining the height of the label through calibration information according to the VDOP; wherein the calibration information is used to indicate a height value obtained after calibrating the first measurement information according to the first error estimation information.
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