Method, System, Device and Network Equipment for Migration of Terminal between Reference Stations

Abstract

Embodiments of the present invention provide a method, system, device, and network device for migrating a terminal between reference stations. In the technical solution provided by the embodiments of the present invention, an initial reference station selection set differential correction value sent by an initial reference station selection set and first positioning data sent by a terminal are received; the initial reference station selection set differential correction value and the first positioning data are calculated through a pre-selected calculation algorithm to obtain first high-precision positioning information of the terminal and a first calculation accuracy of the calculation algorithm; the first calculation accuracy is monitored, and the trend moving average method is used to determine whether the first calculation accuracy shows a downward trend; if it is determined that the first calculation accuracy shows a downward trend, the terminal is migrated from the initial reference station selection set to the next initial reference station selection set of the current edge cloud or the reference station of the next edge cloud. Embodiments of the present invention can solve the technical problem in the related art that it is impossible to achieve seamless migration of a terminal between reference stations.

Description

Technical Field

[0001] The present invention relates to the field of 5G communication networks, and particularly to a method, system, device, and network device for migrating a terminal between reference stations.

Background Art

[0002] With the emergence of intelligent transportation and 5G communication networks, and the increasing maturity and application of autonomous driving technology, the positioning accuracy of terminals has become higher and higher. Therefore, high-precision positioning has become a popular research direction. Early research focused on algorithms, and various types of Real Time Kinematic (RTK) algorithms have been proposed one after another. The general idea is to use the differential correction data of reference stations to correct the errors of terminal positioning devices to achieve the purpose of improving accuracy.

[0003] Currently, high-precision positioning cloud solution methods focus more on new algorithms, new architectures for high-precision positioning, and their applications in various fields. The service range of a single reference station is generally only dozens of kilometers. Some network RTK algorithms can increase the service range of reference stations to more than a hundred kilometers by using multi-reference station technology. However, when a terminal moves between different cities or even across the country, in order for the users of the terminal to enjoy continuous, efficient, and real-time high-precision positioning services, a user-unaware migration strategy for the terminal to switch between reference stations is necessary. However, no solution for the terminal to perform unaware migration between reference stations has been proposed in the related art. Therefore, there is a technical problem in the related art that the terminal cannot perform unaware migration between reference stations.

Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a method, system, device, and network device for migrating a terminal between reference stations, which can solve the technical problem in the related art that the terminal cannot perform unaware migration between reference stations.

[0005] In a first aspect, an embodiment of the present invention provides a method for migrating a terminal between reference stations, which is applied to a current edge cloud. The method includes:

[0006] Receiving the initial reference station selection set differential correction value sent by an initial reference station selection set and the first positioning data sent by the terminal;

[0007] Calculating the initial reference station selection set differential correction value and the first positioning data through a pre-selected solution algorithm to obtain the first high-precision positioning information of the terminal and the first solution accuracy of the solution algorithm;

[0008] Monitoring the first solution accuracy, and using the trend moving average method to determine whether the first solution accuracy shows a downward trend;

[0009] If it is determined that the first solution accuracy shows a downward trend, migrate the terminal from the initial reference station selection set to the next initial reference station selection set.

[0010] Optionally, before receiving the initial reference station selection set differential correction value sent by the initial reference station selection set and the first positioning data sent by the terminal, it includes:

[0011] Read the position information of the terminal;

[0012] Select a solution algorithm and the initial reference station selection set according to the position information.

[0013] Optionally, the migrating the terminal from the initial reference station selection set to the next initial reference station selection set includes:

[0014] Obtain the distances between other reference stations in the current edge cloud and the terminal, and determine whether the distances between other reference stations in the current edge cloud and the terminal are less than the distances between the initial reference station selection set and the terminal;

[0015] If it is determined that the distances between other reference stations in the current edge cloud and the terminal are less than the distances between the initial reference station selection set and the terminal, use other reference stations in the current edge cloud as the next initial reference station selection set, and receive the next initial reference station selection set differential correction value of the next initial reference station selection set and the second positioning data of the terminal;

[0016] Calculate the next initial reference station selection set differential correction value and the second positioning data through the solution algorithm to obtain the second high-precision positioning information of the terminal and the second solution accuracy of the solution algorithm;

[0017] Determine whether the second solution accuracy is greater than the first solution accuracy;

[0018] If it is determined that the second solution accuracy is greater than the first solution accuracy, migrate the terminal from the initial reference station selection set to the next initial reference station selection set.

[0019] Optionally, after obtaining the distances between other reference stations in the current edge cloud and the terminal and determining whether the distances between other reference stations in the current edge cloud and the terminal are less than the distances between the initial reference station selection set and the terminal, it includes:

[0020] If it is determined that the distances between other reference stations in the current edge cloud and the terminal are greater than or equal to the distances between the initial reference station selection set and the terminal, send a request message to the core cloud so that the core cloud migrates the terminal from the initial reference station selection set of the current edge cloud to the reference station of the next edge cloud according to the request message.

[0021] Optionally, the selection of the solution algorithm and the initial reference station selection set according to the position information includes:

[0022] Calculate the distance between the terminal and the reference stations within the current edge cloud according to the position information, and use the reference station within the current edge cloud that is closest to the terminal as the target reference station;

[0023] Determine whether the distance between the terminal and the target reference station is greater than a first threshold;

[0024] If it is determined that the distance between the terminal and the target reference station is less than or equal to the first threshold, select the single reference station network RTK algorithm as the solution algorithm, and use the target reference station as the initial reference station selection set.

[0025] Optionally, after determining whether the distance between the terminal and the reference stations within the current edge cloud is greater than the first threshold, it includes:

[0026] If it is determined that the distance between the terminal and the target reference station is greater than the first threshold, select the virtual reference station network RTK algorithm as the solution algorithm, construct a virtual reference station, and use the virtual reference station as the initial reference station selection set.

[0027] On the other hand, an embodiment of the present invention provides a method for migrating a terminal between reference stations, which is applied to a core cloud, and the method includes:

[0028] Receive request information sent by the current edge cloud;

[0029] Migrate the terminal from the initial reference station selection set of the current edge cloud to the reference stations of the next edge cloud according to the request information.

[0030] On the other hand, an embodiment of the present invention provides a system for migrating a terminal between reference stations, and the system includes:

[0031] The current edge cloud is configured to receive the differential correction values of the initial reference station selection set sent by the initial reference station selection set and the first positioning data sent by the terminal; calculate the first high-precision positioning information of the terminal and the first solution accuracy of the solution algorithm by using a pre-selected solution algorithm for the differential correction values of the initial reference station selection set and the first positioning data; monitor the first solution accuracy, and use the trend moving average method to determine whether the first solution accuracy shows a downward trend; if it is determined that the first solution accuracy shows a downward trend, migrate the terminal from the initial reference station selection set to the next initial reference station selection set;

[0032] The core cloud is used to receive the request information sent by the current edge cloud; and migrate the terminal from the initial reference station selection set of the current edge cloud to the reference station of the next edge cloud according to the request information.

[0033] On the other hand, an embodiment of the present invention provides a device for migrating a terminal between reference stations. The device includes:

[0034] A receiving module, configured to receive the initial reference station selection set differential correction value sent by the initial reference station selection set and the first positioning data sent by the terminal;

[0035] A calculation module, configured to calculate the initial reference station selection set differential correction value and the first positioning data through a pre-selected solution algorithm to obtain the first high-precision positioning information of the terminal and the first solution accuracy of the solution algorithm;

[0036] A judgment module, configured to monitor the first solution accuracy and judge whether the first solution accuracy shows a downward trend by using the trend moving average method;

[0037] A migration module, configured to, if it is determined that the first solution accuracy shows a downward trend, migrate the terminal from the initial reference station selection set to the next initial reference station selection set.

[0038] On the other hand, an embodiment of the present invention provides a storage medium. The storage medium includes a stored program. When the program runs, it controls the device where the storage medium is located to execute the above-mentioned method for migrating a terminal between reference stations.

[0039] On the other hand, an embodiment of the present invention provides a network device, including a memory and a processor. The memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions. The feature is that when the program instructions are loaded and executed by the processor, the steps of the above-mentioned method for migrating a terminal between reference stations are implemented.

[0040] In the technical solutions of the method, system, device and network equipment for migrating a terminal between reference stations provided by an embodiment of the present invention, an initial reference station selection set differential correction value sent by an initial reference station selection set and first positioning data sent by the terminal are received; the initial reference station selection set differential correction value and the first positioning data are calculated through a pre-selected solution algorithm to obtain first high-precision positioning information of the terminal and a first solution accuracy of the solution algorithm; the first solution accuracy is monitored, and a trend moving average method is used to determine whether the first solution accuracy shows a downward trend; if it is determined that the first solution accuracy shows a downward trend, the terminal is migrated from the initial reference station selection set to the next initial reference station selection set. The embodiment of the present invention can switch the reference station connected to the terminal through the edge cloud and switch the edge cloud connected to the terminal through the core cloud, thereby being able to solve the technical problem in the related art that the terminal cannot be migrated between reference stations without perception.

Description of the Drawings

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0042] Figure 1 It is a flowchart of a method for migrating a terminal between reference stations provided by an embodiment of the present invention;

[0043] Figure 2 It is a flowchart of a method for migrating a terminal between reference stations provided by another embodiment of the present invention;

[0044] Figure 3 It is a schematic structural diagram of a multi-level cloud high-precision positioning service platform;

[0045] Figure 4 For Figure 2 It is a specific flowchart of selecting a solution algorithm and an initial reference station selection set according to position information in

[0046] Figure 5 For Figure 2 It is a specific flowchart of migrating the terminal from the initial reference station selection set to the next initial reference station selection set in

[0047] Figure 6 It is a schematic diagram of the terminal migrating between reference stations managed by the same edge cloud;

[0048] Figure 7 It is a flowchart of a method for migrating a terminal between reference stations provided by another embodiment of the present invention;

[0049] Figure 8 ForFigure 7 A specific flowchart for migrating a terminal from an initial reference station selection set of a current edge cloud to the next reference station of an edge cloud according to request information;

[0050] Figure 9 A schematic structural diagram of a migration system of a terminal between reference stations provided by an embodiment of the present invention;

[0051] Figure 10 A schematic structural diagram of a migration device of a terminal between reference stations provided by an embodiment of the present invention;

[0052] Figure 11 For Figure 10 A schematic structural diagram of a migration module in

[0053] Figure 12 A schematic diagram of a network device provided by an embodiment of the present invention.

Specific Embodiments

[0054] For a better understanding of the technical solutions of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0055] It should be clear that the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0056] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms of "a", "the" and "said" used in the embodiments of the present invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0057] It should be understood that the term " / and / " used herein is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, a and / or b may represent: a exists alone, a and b exist simultaneously, and b exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0058] Figure 1 A flowchart of a method for migrating a terminal between reference stations provided by an embodiment of the present invention, as Figure 1 shown, the method includes:

[0059] Step 102, receiving an initial reference station selection set differential correction value sent by an initial reference station selection set and first positioning data sent by a terminal.

[0060] Step 104: Calculate the differential correction value of the initial reference station selection set and the first positioning data through a preselected solution algorithm to obtain the first high-precision positioning information of the terminal and the first solution accuracy of the solution algorithm.

[0061] Step 106: Monitor the first solution accuracy, and use the trend moving average method to determine whether the first solution accuracy shows a downward trend.

[0062] Step 108: If it is determined that the first solution accuracy shows a downward trend, migrate the terminal from the initial reference station selection set to the next initial reference station selection set.

[0063] In the technical solution of a method for migrating a terminal between reference stations provided in this embodiment, receive the differential correction value of the initial reference station selection set sent by the initial reference station selection set and the first positioning data sent by the terminal; calculate the differential correction value of the initial reference station selection set and the first positioning data through a preselected solution algorithm to obtain the first high-precision positioning information of the terminal and the first solution accuracy of the solution algorithm; monitor the first solution accuracy, and use the trend moving average method to determine whether the first solution accuracy shows a downward trend; if it is determined that the first solution accuracy shows a downward trend, migrate the terminal from the initial reference station selection set to the next initial reference station selection set. The embodiment of the present invention can solve the technical problem in the related art that the terminal cannot be migrated without perception between reference stations.

[0064] Figure 2 It is a flowchart of a method for migrating a terminal between reference stations provided in another embodiment of the present invention, which is applied to the current edge cloud. As Figure 2 shown, the method includes:

[0065] Step 202: Read the location information of the terminal.

[0066] The method for migrating a terminal between reference stations provided in the embodiment of the present invention is based on a multi-level cloud high-precision positioning service platform. Figure 3 It is a schematic structural diagram of a multi-level cloud high-precision positioning service platform. As Figure 3 shown, the multi-level cloud high-precision positioning service platform includes a core cloud, a terminal, an edge cloud, and a reference station. Among them, the number of edge clouds includes at least one, and each edge cloud includes at least one reference station. Specifically, the core cloud is used to manage the registration information of the terminal, manage the global static information of the edge cloud and the reference station, and perform decision-making calculations when the terminal needs to migrate across edge clouds. The edge cloud is used to manage the affiliated reference stations, allocate reference stations to the terminal, and perform decision-making calculations when the terminal needs to migrate between different reference stations in the edge cloud.

[0067] In the embodiment of the present invention, the location information of the terminal includes the approximate location information of the terminal.

[0068] In the embodiments of the present invention, the terminals include vehicle terminals, mobile phone terminals, and surveying terminals. The terminals perform data interaction with the edge cloud through a 5G communication network.

[0069] In the embodiments of the present invention, when the terminal is just powered on, the core cloud assigns the edge cloud closest to the terminal to the terminal. This edge cloud is the current edge cloud in the embodiments of the present invention, and the current edge cloud will assign a reference station to the terminal.

[0070] In the embodiments of the present invention, each step is executed by the above-mentioned current edge cloud.

[0071] In the embodiments of the present invention, while reading the location information of the terminal, the current edge cloud also reads the service type of the user of the terminal. According to different accuracy requirements, the service types of users include centimeter-level, decimeter-level, and meter-level; according to differences in mobility, the service types of users include single-point positioning users, regional mobile users, and national mobile users.

[0072] Step 204: Select a solution algorithm and an initial reference station selection set according to the location information.

[0073] In the embodiments of the present invention, there are various types of network RTK algorithms stored in the edge cloud, and the most suitable network RTK algorithm can be selected from various types of network RTK algorithms as the solution algorithm according to the location information of the terminal, so as to improve the efficiency of calculation.

[0074] In the embodiments of the present invention, as Figure 4 described, step 204 includes:

[0075] Step 2042: Calculate the distance between the terminal and the reference stations in the current edge cloud according to the location information, and use the reference station in the current edge cloud closest to the terminal as the target reference station.

[0076] In the embodiments of the present invention, the current edge cloud first needs to exclude the reference stations with poor signal quality, and then traverse the remaining reference stations in the current edge cloud, calculate the distance between the terminal and the remaining reference stations in the current edge cloud according to the location information of the terminal, and use the reference station in the current edge cloud closest to the terminal as the target reference station.

[0077] Step 2044: Determine whether the distance between the terminal and the target reference station is greater than the first threshold. If so, execute step 2046; if not, execute step 2048.

[0078] Step 2046: Select the virtual reference station network RTK algorithm as the solution algorithm, construct a virtual reference station, and use the virtual reference station as the initial reference station selection set; and continue to execute step 206.

[0079] Real Time Kinematic (RTK) technology is a technology for real-time kinematic relative positioning using carrier phase observations. The principle of traditional RTK technology can be simply summarized as follows: The reference station uses a fixed coordinate as a reference. After the base station calculates a coordinate by receiving satellites each time, it compares it with the fixed coordinate to obtain a differential correction value, and then uses this differential correction value to correct the coordinate value of the terminal, thereby weakening various error interferences and making the terminal positioning accuracy more precise.

[0080] In an embodiment of the present invention, when it is determined that the distance between the terminal and the target reference station is greater than the first threshold, it indicates that the distance between the terminal and the target reference station is relatively far. To ensure high positioning accuracy and the stability of the solution algorithm, a more complex Virtual Reference Station Network RTK algorithm can be selected. The Virtual Reference Station Network RTK algorithm selects several reference stations relatively close to the terminal and virtualizes a virtual reference station very close to the terminal through the selected reference stations. Among them, the Virtual Reference Station Network RTK algorithm generally selects three or more reference stations relatively close to the terminal; the distance between the virtual reference station and the terminal generally includes dozens of meters. Although the Virtual Reference Station Network RTK algorithm increases the computing overhead of the edge cloud, its coverage range is farther, and it can meet the high-precision positioning services of terminals at farther distances.

[0081] Step 2048: Select the Single Reference Station Network RTK algorithm as the solution algorithm, and use the target reference station as the initial reference station selection set; and continue to execute Step 206.

[0082] In an embodiment of the present invention, the initial reference station selection set includes a specific reference station within the current edge cloud or a virtual reference station jointly virtualized by several reference stations within the current edge cloud.

[0083] In an embodiment of the present invention, when it is determined that the distance between the terminal and the target reference station is less than or equal to the first threshold, it indicates that the distance between the terminal and the target reference station is relatively close. A simpler Single Reference Station Network RTK algorithm can be selected, which not only meets the high-precision requirements for terminal positioning but also reduces the computing overhead of the edge cloud, reflecting high efficiency.

[0084] In an embodiment of the present invention, after the current edge cloud selects the solution algorithm and the initial reference station selection set, the Mobile Edge Computing (MEC) of the current edge cloud will establish a solution channel with the initial reference station selection set.

[0085] Step 206: Receive the initial reference station selection set differential correction value sent by the initial reference station selection set and the first positioning data sent by the terminal.

[0086] In the embodiments of the present invention, the formats of the first positioning data and the differential correction values of the initial reference station selection set include the Radio Technical Commission for Maritime services (RTCM) format. Specifically, the current edge cloud receives the differential correction values of the initial reference station selection set sent by the initial reference station selection set and the first positioning data sent by the terminal in the RTCM format.

[0087] For example, the first positioning data includes the position information of the terminal calculated by the base station through receiving satellites.

[0088] The differential correction values of the initial reference station selection set include the differential correction data obtained by the initial reference station selection set for the terminal.

[0089] Step 208: Calculate the differential correction values of the initial reference station selection set and the first positioning data through a preselected solution algorithm to obtain the first high-precision positioning information of the terminal and the first solution accuracy of the solution algorithm.

[0090] Step 210: Monitor the first solution accuracy, and use the trend moving average method to determine whether the first solution accuracy shows a downward trend. If so, execute step 212; if not, continue to execute step 210.

[0091] Specifically, the current edge cloud periodically monitors the first solution accuracy. For example, the period for the current edge cloud to monitor the first solution accuracy includes 30 s, which can save the overhead of the current edge cloud.

[0092] In the embodiments of the present invention, as the distance between the terminal and the initial reference station selection set becomes farther and farther, the first solution accuracy will become lower and lower, and the sensitivity and noise performance of the initial reference station selection set will also decrease. Therefore, step 210 can also monitor the sensitivity or noise performance of the initial reference station selection set, and use the trend moving average method to determine whether the sensitivity or noise performance of the initial reference station selection set shows a downward trend.

[0093] The trend moving average method uses the secondary moving average to correct the lag deviation that occurs in the prediction of the simple moving average method and the weighted moving average method. The simple moving average method predicts by calculating the first moving average of the observed index sequence. Among them, the first moving average is as follows:

[0094]

[0095] In formula (1), t includes the current time number, N includes the sequence values for calculating the average, 5 ≤ N ≤ 200, and y t +y t-1 +…+y t-N+1 includes the observed index sequence.

[0096] In formula (2), the second moving average is a second moving average based on the first moving average. as follows:

[0097]

[0098] The linear trend prediction model is established using the lag deviation of the simple moving average method as follows:

[0099] y t+T =a t +b t *T, (T=1,2,3,…) (3)

[0100] In formula (3), t includes the current time, T includes the time from t to the expected time, and a t is the intercept, b t is the slope, intercept and slope are also called smoothing coefficient. The calculation formula of the smoothing coefficient can be derived from the above linear trend prediction model as follows:

[0101]

[0102] When the slope b t When it is a negative value, it means that the observed index of the test is decreasing; if the negative value b t It keeps getting smaller, indicating that the downward trend of the observed index is still getting worse. Therefore, in the embodiment of the present invention, the slope b of the first solution accuracy is determined by the trend moving average method. t is negative and negative b t The embodiment of the present invention adopts the trend moving average method, which can effectively prevent a single indicator from being disturbed once and erroneously starting the migration algorithm, and can also prevent a single parameter from frequently migrating under boundary conditions.

[0103] Step 212: Migrate the terminal from the initial reference station selection set to the next initial reference station selection set.

[0104] In the embodiment of the present invention, Figure 5 Said step 212 comprises:

[0105] Step 212a: Obtain the distance between other reference stations in the current edge cloud and the terminal.

[0106] In an embodiment of the present invention, the current edge cloud first needs to exclude reference stations with poor signal quality in the current edge cloud, and then use the remaining reference stations in the current edge cloud as other reference stations in the current edge cloud to calculate the distance between the terminal and other reference stations in the current edge cloud.

[0107] Step 212b: Determine whether the distance between other reference stations in the current edge cloud and the terminal is less than the distance between the initial reference station selection set and the terminal. If yes, execute Step 212c; if not, execute Step 212g.

[0108] Step 212c: Use other reference stations in the current edge cloud as the next initial reference station selection set, and receive the differential correction value of the next initial reference station selection set and the second positioning data of the terminal.

[0109] In an embodiment of the present invention, if it is determined that the distance between other reference stations in the current edge cloud and the terminal is less than the distance between the initial reference station selection set and the terminal, it indicates that there is a reference station in the current edge cloud that is better than the initial reference station selection set. Use the reference station in the current edge cloud that is better than the initial reference station selection set as the next initial reference station selection set. At this time, the MEC of the current edge cloud will establish a new solution channel with the next initial reference station selection set.

[0110] In an embodiment of the present invention, the formats of the second positioning data and the differential correction value of the next initial reference station selection set include the RTCM format. Specifically, the current edge cloud receives the differential correction value of the next initial reference station selection set and the second positioning data sent by the terminal in the RTCM format.

[0111] For example, the second positioning data includes the position information of the terminal calculated by the base station by receiving satellites.

[0112] The differential correction value of the next initial reference station selection set includes the differential correction data of the terminal obtained by the next initial reference station selection set.

[0113] Step 212d: Calculate the differential correction value of the next initial reference station selection set and the second positioning data through a solution algorithm to obtain the second high-precision positioning information of the terminal and the second solution accuracy of the solution algorithm.

[0114] Step 212e: Determine whether the second solution accuracy is greater than the first solution accuracy. If yes, execute Step 212f; if not, continue to execute Step 212e.

[0115] Step 212f: Migrate the terminal from the initial reference station selection set to the next initial reference station selection set, and the process ends.

[0116] In an embodiment of the present invention, the next initial reference station selection set includes a specific reference station in the current edge cloud or a virtual reference station virtually formed by several reference stations in the current edge cloud.

[0117] In an embodiment of the present invention, if it is determined that the second solution accuracy is greater than the first solution accuracy, it indicates that the new solution channel established between the MEC of the current edge cloud and the next initial reference station selection set has been stabilized, and the solution accuracy of the new solution channel is better. At this time, the MEC of the current edge cloud completes the seamless migration from the initial reference station selection set to the next initial reference station selection set by releasing the solution channel between the initial reference station selection set.

[0118] For example, Figure 6 FIG. is a schematic diagram of the migration of the terminal between the reference stations managed by the same edge cloud. As Figure 6 shown, there are n reference stations in the current edge cloud, where reference station 1 is the initial reference station selection set, reference station 2 is the next initial reference station selection set, and the MEC of the current edge cloud has established solution channels with both reference station 1 and reference station 2. When the second solution accuracy of reference station 2 is greater than the solution accuracy of reference station 1, the MEC of the current edge cloud completes the seamless migration of the terminal from reference station 1 to reference station 2 by releasing the solution channel between the terminal and reference station 1.

[0119] Step 212g: Send a request message to the core cloud.

[0120] In an embodiment of the present invention, if it is determined that the distance between other reference stations in the current edge cloud and the terminal is greater than or equal to the distance between the initial reference station selection set and the terminal, it indicates that there are better reference stations in the current edge cloud than the initial reference station selection set. At this time, it is necessary to consider whether there are better reference stations in other edge clouds than the initial reference station selection set. Therefore, the current edge cloud sends a request message to the core cloud to enable the core cloud to find better reference stations in other edge clouds than the initial reference station selection set.

[0121] A method for migrating a terminal between reference stations provided by an embodiment of the present invention is suitable for a multi-level cloud high-precision positioning service platform for national networking. The embodiment of the present invention clearly introduces the specific functions of the core cloud and the edge cloud, and proposes a network RTK solution algorithm of a multi-algorithm combination adapted according to the service type of the terminal user. The 5G communication technology is used for wireless communication between the terminal and the edge cloud, so that the multi-level cloud high-precision positioning service platform as a whole has better computing efficiency and real-time performance. The embodiment of the present invention proposes a complete method for reallocating reference stations and edge clouds for the problem of terminal migration during movement, which can enable the terminal to complete seamless migration between different reference stations within the same edge cloud and between different edge clouds.

[0122] In the technical solution of a method for migrating a terminal between reference stations provided by an embodiment of the present invention, an initial reference station selection set differential correction value sent by an initial reference station selection set and first positioning data sent by the terminal are received; the initial reference station selection set differential correction value and the first positioning data are calculated through a preselected solution algorithm to obtain first high-precision positioning information of the terminal and a first solution accuracy of the solution algorithm; the first solution accuracy is monitored, and the trend moving average method is used to determine whether the first solution accuracy shows a downward trend; if it is determined that the first solution accuracy shows a downward trend, the terminal is migrated from the initial reference station selection set to the next initial reference station selection set. The embodiment of the present invention can solve the technical problem in the related art that the terminal cannot be migrated between reference stations without perception.

[0123] Figure 7 The flowchart of a method for migrating a terminal between reference stations provided by another embodiment of the present invention is applied to the core cloud. As Figure 7 shown, the method includes:

[0124] Step 302, receiving request information sent by the current edge cloud;

[0125] In the embodiment of the present invention, if the current edge cloud determines that the distance between other reference stations in the current edge cloud and the terminal is greater than or equal to the distance between the initial reference station selection set and the terminal, it indicates that there are reference stations in the current edge cloud that are better than the initial reference station selection set. At this time, it is necessary to consider whether there are reference stations in other edge clouds that are better than the initial reference station selection set. Therefore, the current edge cloud sends request information to the core cloud so that the core cloud can find reference stations in other edge clouds that are better than the initial reference station selection set.

[0126] Step 304, migrating the terminal from the initial reference station selection set of the current edge cloud to the reference station of the next edge cloud according to the request information.

[0127] Further, as Figure 8 shown, step 304 specifically includes:

[0128] Step 304a, obtaining first high-precision positioning information of the terminal from the current edge cloud according to the request information.

[0129] Step 304b, finding the edge cloud closest to the terminal according to the first high-precision positioning information and using the closest edge cloud as the next edge cloud.

[0130] In the embodiment of the present invention, the core cloud excludes other edge clouds that are far from the current edge cloud of the terminal, then traverses all other edge clouds adjacent to the current edge cloud, finds the edge cloud closest to the terminal and uses the closest edge cloud as the next edge cloud.

[0131] Step 304c: Calculate the first average distance between the reference stations and the terminal within the current edge cloud, and the second average distance between the reference stations and the terminal within the next edge cloud.

[0132] In the embodiments of the present invention, the core cloud first excludes the reference stations with poor signal quality within the current edge cloud, and calculates the first average distance between the remaining reference stations and the terminal within the current edge cloud. Similarly, the core cloud first excludes the reference stations with poor signal quality within the next edge cloud, and calculates the second average distance between the remaining reference stations and the terminal within the next edge cloud.

[0133] Step 304d: Determine whether the second average distance is less than the first average distance. If so, execute Step 304e; if not, continue to execute Step 304d.

[0134] In the embodiments of the present invention, if the core cloud determines that the second average distance is greater than or equal to the first average distance, it indicates that the current core cloud is better than the next core cloud, and no migration strategy is performed. Instead, it continues to wait and continue to provide services to the terminal.

[0135] Step 304e: Migrate the terminal from the initial reference station selection set to the reference station of the next edge cloud, and the process ends.

[0136] In the embodiments of the present invention, the reference station of the next edge cloud includes a specific reference station within the next edge cloud or a virtual reference station jointly virtualized by several reference stations within the next edge cloud.

[0137] In the embodiments of the present invention, if the core cloud determines that the second average distance is less than the first average distance, it indicates that the next core cloud is better than the current core cloud, and a migration strategy is performed. Specifically, the core cloud notifies the MEC of the next edge cloud to allocate a reference station to the terminal, establish a new solution channel between the reference stations for the terminal, and notify the terminal to also send a copy of the positioning data in RTCM format to the new solution channel and start the solution; when the new solution channel is stable and the solution accuracy is better than the first solution accuracy, the core cloud notifies the MEC of the current edge cloud to disconnect the connection with the terminal and release the corresponding resources, thereby realizing the migration of the terminal from the initial reference station selection set of the current edge cloud to the reference station of the next edge cloud by the core cloud.

[0138] In the technical solution of a method for migrating a terminal between reference stations provided by the embodiments of the present invention, the core cloud receives the request information sent by the current edge cloud; and migrates the terminal from the initial reference station selection set of the current edge cloud to the reference station of the next edge cloud according to the request information. The embodiments of the present invention can solve the technical problem in the related art that the terminal cannot be migrated without perception between reference stations.

[0139] Figure 9The structural schematic diagram of a migration system of a terminal between reference stations provided by an embodiment of the present invention is as follows Figure 9 As shown, the system includes: a terminal 41, a core cloud 42, an edge cloud 43, and a reference station 44.

[0140] In the embodiment of the present invention, one core cloud 42 manages several edge clouds 43; one edge cloud 43 manages several reference stations 44.

[0141] In the embodiment of the present invention, the edge cloud 43 currently connected to the terminal 41 is the current edge cloud, and the edge cloud 43 to which the terminal 41 will be connected next is the next edge cloud.

[0142] The current edge cloud is configured to receive the initial reference station selection set differential correction value sent by the initial reference station selection set and the first positioning data sent by the terminal; calculate the first high-precision positioning information of the terminal and the first solution accuracy of the solution algorithm by using a pre-selected solution algorithm for the initial reference station selection set differential correction value and the first positioning data; monitor the first solution accuracy, and use the trend moving average method to determine whether the first solution accuracy shows a downward trend; if it is determined that the first solution accuracy shows a downward trend, migrate the terminal from the initial reference station selection set to the next initial reference station selection set.

[0143] Further, the current edge cloud is further configured to read the location information of the terminal; select a solution algorithm and an initial reference station selection set according to the location information.

[0144] Among them, the current edge cloud selects a solution algorithm and an initial reference station selection set according to the location information, specifically including: the current edge cloud calculates the distance between the terminal and the reference stations in the current edge cloud according to the location information, and uses the reference station in the current edge cloud closest to the terminal as the target reference station; determines whether the distance between the terminal and the target reference station is greater than a first threshold; if it is determined that the distance between the terminal and the target reference station is greater than the first threshold, selects the virtual reference station network RTK algorithm as the solution algorithm, constructs a virtual reference station, and uses the virtual reference station as the initial reference station selection set; if it is determined that the distance between the terminal and the target reference station is less than or equal to the first threshold, selects the single reference station network RTK algorithm as the solution algorithm, and uses the target reference station as the initial reference station selection set.

[0145] Among them, the current edge cloud migrates the terminal from the initial reference station selection set to the next initial reference station selection set, which specifically includes: the current edge cloud obtains the distances between other reference stations in the current edge cloud and the terminal; determines whether the distances between other reference stations in the current edge cloud and the terminal are less than the distance between the initial reference station selection set and the terminal; if it is determined that the distances between other reference stations in the current edge cloud and the terminal are less than the distance between the initial reference station selection set and the terminal, uses other reference stations in the current edge cloud as the next initial reference station selection set, and receives the differential correction value of the next initial reference station selection set and the second positioning data of the terminal; calculates the next initial reference station selection set differential correction value and the second positioning data through a solution algorithm to obtain the second high-precision positioning information of the terminal and the second solution accuracy of the solution algorithm; determines whether the second solution accuracy is greater than the first solution accuracy; if it is determined that the second solution accuracy is greater than the first solution accuracy, migrates the terminal from the initial reference station selection set to the next initial reference station selection set.

[0146] Furthermore, the current edge cloud is also used to send a request message to the core cloud 42 if it is determined that the distances between other reference stations in the current edge cloud and the terminal are greater than or equal to the distance between the initial reference station selection set and the terminal.

[0147] The core cloud 42 is used to receive the request message sent by the current edge cloud; and migrates the terminal from the initial reference station selection set of the current edge cloud to the reference station of the next edge cloud according to the request message.

[0148] Among them, the core cloud 42 migrates the terminal from the initial reference station selection set of the current edge cloud to the reference station of the next edge cloud according to the request message, which specifically includes: obtaining the first high-precision positioning information of the terminal from the current edge cloud according to the request message; finding the edge cloud closest to the terminal according to the first high-precision positioning information and using the closest edge cloud as the next edge cloud; calculating the first average distance between the reference stations in the current edge cloud and the terminal and the second average distance between the reference stations in the next edge cloud and the terminal; determining whether the second average distance is less than the first average distance; if it is determined that the second average distance is less than the first average distance, migrates the terminal from the initial reference station selection set to the reference station of the next edge cloud.

[0149] In the technical solution of a migration system of a terminal between reference stations provided by an embodiment of the present invention, a current edge cloud is used to receive an initial reference station selection set differential correction value sent by an initial reference station selection set and first positioning data sent by the terminal; calculate the initial reference station selection set differential correction value and the first positioning data through a preselected calculation algorithm to obtain first high-precision positioning information of the terminal and a first solution accuracy of the calculation algorithm; monitor the first solution accuracy, and use the trend moving average method to determine whether the first solution accuracy shows a downward trend; if it is determined that the first solution accuracy shows a downward trend, migrate the terminal from the initial reference station selection set to the next initial reference station selection set; a core cloud is used to receive request information sent by the current edge cloud; and migrate the terminal from the initial reference station selection set of the current edge cloud to the reference station of the next edge cloud according to the request information. The embodiment of the present invention can solve the technical problem that the terminal cannot be migrated without perception between reference stations in the related art.

[0150] Figure 10 FIG. is a schematic structural diagram of a migration device of a terminal between reference stations provided by an embodiment of the present invention, as Figure 10 shown, the device includes: a reading module 51, a selection module 52, a receiving module 53, a calculation module 54, a judgment module 55, and a migration module 56.

[0151] The reading module 51 is used to read the position information of the terminal.

[0152] The selection module 52 is used to select a calculation algorithm and an initial reference station selection set according to the position information.

[0153] In an embodiment of the present invention, the selection module 52 specifically includes: a first calculation sub-module 521, a first judgment sub-module 522, a first selection sub-module 523, and a second selection sub-module 524.

[0154] The first calculation sub-module 521 is used to calculate the distance between the terminal and the reference stations in the current edge cloud according to the position information, and use the reference station in the current edge cloud closest to the terminal as the target reference station.

[0155] The first judgment sub-module 522 is used to judge whether the distance between the terminal and the target reference station is greater than a first threshold.

[0156] The first selection sub-module 523 is used to, if the first judgment sub-module 522 judges that the distance between the terminal and the target reference station is greater than the first threshold, select the virtual reference station network RTK algorithm as the calculation algorithm, construct a virtual reference station, and use the virtual reference station as the initial reference station selection set.

[0157] The second selection sub-module 524 is configured to, if the first judgment sub-module 522 determines that the distance between the terminal and the target reference station is less than or equal to the first threshold, select the single reference station network RTK algorithm as the solution algorithm and use the target reference station as the initial reference station selection set.

[0158] The receiving module 53 is configured to receive the initial reference station selection set differential correction value sent by the initial reference station selection set and the first positioning data sent by the terminal.

[0159] In the embodiment of the present invention, the formats of the first positioning data and the initial reference station selection set differential correction value include the RTCM format.

[0160] The calculation module 54 is configured to calculate the initial reference station selection set differential correction value and the first positioning data through a pre-selected solution algorithm to obtain the first high-precision positioning information of the terminal and the first solution accuracy of the solution algorithm.

[0161] The judgment module 55 is configured to monitor the first solution accuracy and determine whether the first solution accuracy shows a downward trend by using the trend moving average method.

[0162] The judgment module 55 is further configured to, if the judgment module 55 determines that the first solution accuracy does not show a downward trend, continue to perform the operation of monitoring the first solution accuracy and determining whether the first solution accuracy shows a downward trend by using the trend moving average method.

[0163] The migration module 56 is configured to, if the judgment module 55 determines that the first solution accuracy shows a downward trend, migrate the terminal from the initial reference station selection set to the next initial reference station selection set.

[0164] In the embodiment of the present invention, as Figure 11 shown, the migration module 56 specifically includes:

[0165] The acquisition sub-module 56a is configured to acquire the distances between other reference stations in the current edge cloud and the terminal.

[0166] The second judgment sub-module 56b is configured to judge whether the distances between other reference stations in the current edge cloud and the terminal are less than the distance between the initial reference station selection set and the terminal.

[0167] The processing sub-module 56c is configured to, if the second judgment sub-module 56b determines that the distances between other reference stations in the current edge cloud and the terminal are less than the distance between the initial reference station selection set and the terminal, use other reference stations in the current edge cloud as the next initial reference station selection set, and receive the next initial reference station selection set differential correction value and the second positioning data of the terminal.

[0168] A second calculation sub-module 56d, configured to calculate the differential correction value of the next initial reference station selection set and the second positioning data through a solution algorithm, so as to obtain the second high-precision positioning information of the terminal and the second solution accuracy of the solution algorithm.

[0169] A third judgment sub-module 56e, configured to judge whether the second solution accuracy is greater than the first solution accuracy.

[0170] The third judgment sub-module 56e is further configured to, if the third judgment sub-module 56e determines that the second solution accuracy is less than or equal to the first solution accuracy, continue to perform the operation of judging whether the second solution accuracy is greater than the first solution accuracy.

[0171] A first migration sub-module 56f, configured to migrate the terminal from the initial reference station selection set to the next initial reference station selection set.

[0172] A second migration sub-module 56g, configured to, if the second judgment sub-module 56b determines that the distance between other reference stations in the current edge cloud and the terminal is greater than or equal to the distance between the initial reference station selection set and the terminal, send a request message to the core cloud, so that the core cloud migrates the terminal from the initial reference station selection set of the current edge cloud to the reference station of the next edge cloud according to the request message.

[0173] Specifically, the core cloud migrates the terminal from the initial reference station selection set of the current edge cloud to the reference station of the next edge cloud according to the request message, which specifically includes: the core cloud obtains the first high-precision positioning information of the terminal from the current edge cloud according to the request message; finds the edge cloud closest to the terminal according to the first high-precision positioning information and uses the closest edge cloud as the next edge cloud; calculates the first average distance between the reference stations in the current edge cloud and the terminal and the second average distance between the reference stations in the next edge cloud and the terminal, and judges whether the second average distance is less than the first average distance; if it is determined that the second average distance is less than the first average distance, migrates the terminal from the initial reference station selection set to the reference station of the next edge cloud.

[0174] The migration device of the terminal between reference stations provided in this embodiment can be used to implement the above Figures 1 to 5 The migration method of the terminal between reference stations. For specific descriptions, reference can be made to the embodiments of the migration method of the terminal between reference stations above, and details will not be repeated here.

[0175] In the technical solution of a migration device between reference stations of a terminal provided by an embodiment of the present invention, the initial reference station selection set differential correction value sent by the initial reference station selection set and the first positioning data sent by the terminal are received; the initial reference station selection set differential correction value and the first positioning data are calculated through a preselected calculation algorithm to obtain the first high-precision positioning information of the terminal and the first calculation accuracy of the calculation algorithm; the first calculation accuracy is monitored, and the trend moving average method is used to determine whether the first calculation accuracy shows a downward trend; if it is determined that the first calculation accuracy shows a downward trend, the terminal is migrated from the initial reference station selection set to the next initial reference station selection set. The embodiment of the present invention can solve the technical problem in the related art that the terminal cannot be migrated without perception between reference stations.

[0176] Figure 12 It is a schematic diagram of a network device provided by an embodiment of the present invention. As Figure 12 shown, the network device 20 of this embodiment includes: a processor 21, a memory 22, and a computer program 23 stored in the memory 22 and operable on the processor 21. When the computer program 23 is executed by the processor 21, it implements the application to the migration method of the terminal between reference stations in the embodiment. To avoid repetition, it will not be elaborated here one by one. Alternatively, when the computer program is executed by the processor 21, it implements the functions of each model / unit in the migration device of the terminal between reference stations in the embodiment. To avoid repetition, it will not be elaborated here one by one.

[0177] The network device 20 includes, but is not limited to, a processor 21 and a memory 22. Those skilled in the art can understand that Figure 12 it is only an example of the network device 20 and does not constitute a limitation on the network device 20. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the network device may also include input / output devices, network access devices, buses, etc.

[0178] The so-called processor 21 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or may also be other general-purpose processors, digital signal processors (Digital Signal Processor, abbreviated as DSP), application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), field programmable gate arrays (Field-Programmable Gate Array, abbreviated as FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0179] The memory 22 can be an internal storage unit of the network device 20, such as the hard disk or memory of the network device 20. The memory 22 can also be an external storage device of the network device 20, such as a plug-in hard disk equipped on the network device 20, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 22 can also include both the internal storage unit of the network device 20 and the external storage device. The memory 22 is used to store computer programs and other programs and data required by the network device. The memory 22 can also be used to temporarily store the data that has been output or will be output.

[0180] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the foregoing method embodiments, and will not be described herein again.

[0181] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0182] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0183] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware, or in the form of hardware plus software functional units.

[0184] The integrated unit implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional units stored in a storage medium include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute some steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media that can store program codes such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0185] The foregoing is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A method for migrating a terminal between reference stations, characterized in that, applied to the current edge cloud, the method includes: Receiving the initial reference station selection set differential correction value sent by the initial reference station selection set and the first positioning data sent by the terminal; Calculating the initial reference station selection set differential correction value and the first positioning data through a pre-selected solution algorithm to obtain the first high-precision positioning information of the terminal and the first solution accuracy of the solution algorithm; Monitoring the first solution accuracy, and using the trend moving average method to determine whether the first solution accuracy shows a downward trend; If it is determined that the first solution accuracy shows a downward trend, migrating the terminal from the initial reference station selection set to the next initial reference station selection set; Wherein, the using the trend moving average method to determine whether the first solution accuracy shows a downward trend includes: Among them, is the first moving average, is the second moving average.

2. The method for migrating a terminal between reference stations according to claim 1, characterized in that, Before receiving the initial reference station selection set differential correction value sent by the initial reference station selection set and the first positioning data sent by the terminal, it includes: Reading the location information of the terminal; Selecting a solution algorithm and the initial reference station selection set according to the location information.

3. The method for migrating a terminal between reference stations according to claim 1 or 2, characterized in that, The migrating the terminal from the initial reference station selection set to the next initial reference station selection set includes: Obtaining the distances between other reference stations in the current edge cloud and the terminal, and determining whether the distances between other reference stations in the current edge cloud and the terminal are less than the distances between the initial reference station selection set and the terminal; If it is determined that the distances between other reference stations in the current edge cloud and the terminal are less than the distances between the initial reference station selection set and the terminal, using other reference stations in the current edge cloud as the next initial reference station selection set, and receiving the next initial reference station selection set differential correction value of the next initial reference station selection set and the second positioning data of the terminal; Calculating the next initial reference station selection set differential correction value and the second positioning data through the solution algorithm to obtain the second high-precision positioning information of the terminal and the second solution accuracy of the solution algorithm; Determining whether the second solution accuracy is greater than the first solution accuracy; If it is determined that the second solution accuracy is greater than the first solution accuracy, migrating the terminal from the initial reference station selection set to the next initial reference station selection set.

4. The method for migrating a terminal between reference stations according to claim 3, characterized in that, After obtaining the distances between other reference stations in the current edge cloud and the terminal and determining whether the distances between other reference stations in the current edge cloud and the terminal are less than the distances between the initial reference station selection set and the terminal, it includes: If it is determined that the distance between other reference stations in the current edge cloud and the terminal is greater than or equal to the distance between the initial reference station selection set of the current edge cloud and the terminal, a request message is sent to the core cloud, so that the core cloud migrates the terminal from the initial reference station selection set of the current edge cloud to the reference station of the next edge cloud according to the request message.

5. The method for migrating a terminal between reference stations according to claim 2, wherein, the selecting a solution algorithm and the initial reference station selection set according to the position information includes: calculating the distance between the terminal and the reference stations in the current edge cloud according to the position information, and taking the reference station in the current edge cloud that is closest to the terminal as the target reference station; judging whether the distance between the terminal and the target reference station is greater than a first threshold; if it is determined that the distance between the terminal and the target reference station is less than or equal to the first threshold, selecting the single reference station network RTK algorithm as the solution algorithm, and taking the target reference station as the initial reference station selection set.

6. The method for migrating a terminal between reference stations according to claim 5, wherein, after judging whether the distance between the terminal and the reference stations in the current edge cloud is greater than the first threshold, it includes: if it is determined that the distance between the terminal and the target reference station is greater than the first threshold, selecting the virtual reference station network RTK algorithm as the solution algorithm, constructing a virtual reference station, and taking the virtual reference station as the initial reference station selection set.

7. A method for migrating a terminal between reference stations, wherein, applied to a core cloud, the method includes: receiving a request message sent by the current edge cloud; migrating the terminal from the initial reference station selection set of the current edge cloud to the reference station of the next edge cloud according to the request message; the migrating the terminal from the initial reference station selection set of the current edge cloud to the reference station of the next edge cloud according to the request message includes: obtaining the first high-precision positioning information of the terminal from the current edge cloud according to the request message; finding out the edge cloud closest to the terminal according to the first high-precision positioning information and taking the closest edge cloud as the next edge cloud; calculating the first average distance between the reference stations in the current edge cloud and the terminal and the second average distance between the reference stations in the next edge cloud and the terminal; when the second average distance is less than the first average distance, migrating the terminal from the initial reference station selection set to the reference station of the next edge cloud.

8. A system for migrating a terminal between reference stations, wherein, the system includes: The current edge cloud is used to receive the differential correction values of the initial reference station selection set sent by the initial reference station selection set and the first positioning data sent by the terminal; calculate the initial reference station selection set differential correction values and the first positioning data through a pre-selected solution algorithm to obtain the first high-precision positioning information of the terminal and the first solution accuracy of the solution algorithm; monitor the first solution accuracy, and use the trend moving average method to determine whether the first solution accuracy shows a downward trend; if it is determined that the first solution accuracy shows a downward trend, migrate the terminal from the initial reference station selection set to the next initial reference station selection set; wherein, the using the trend moving average method to determine whether the first solution accuracy shows a downward trend includes: Among them, is the first moving average, is the second moving average; The core cloud is used to receive the request information sent by the current edge cloud; and migrate the terminal from the initial reference station selection set of the current edge cloud to the reference station of the next edge cloud according to the request information.

9. A terminal migration device between reference stations Characterized in that The device includes: A receiving module, configured to receive the differential correction values of the initial reference station selection set sent by the initial reference station selection set and the first positioning data sent by the terminal; A calculation module, configured to calculate the differential correction values of the initial reference station selection set and the first positioning data through a pre-selected solution algorithm to obtain the first high-precision positioning information of the terminal and the first solution accuracy of the solution algorithm; A judgment module, configured to monitor the first solution accuracy and use the trend moving average method to determine whether the first solution accuracy shows a downward trend; A migration module, configured to, if it is determined that the first solution accuracy shows a downward trend, migrate the terminal from the initial reference station selection set to the next initial reference station selection set.

10. A network device includes a memory and a processor, the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, Characterized in that When the program instructions are loaded and executed by the processor, the steps of the terminal migration method between reference stations according to any one of claims 1 to 7 are implemented.

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