A navigation and positioning method and system for an Android vehicle-mounted terminal

Abstract

The present invention provides a navigation and positioning method and system for an Android vehicle-mounted terminal, comprising: obtaining RTCM differential data; writing the RTCM differential data to a positioning module via an idle physical serial port; the positioning module processing the RTCM differential data and outputting location information; and obtaining positioning data from preset navigation software based on the location information via a LocationManager interface to obtain a navigation and positioning result. By serially connecting an idle physical serial port between the vehicle-mounted terminal main chip and the positioning module, the present invention enables the positioning module to obtain differential data in real time and perform data analysis, thereby directly calling back high-precision positioning data from the navigation software to obtain a navigation and positioning result. This avoids the need for a separate downlink data interface and custom development, saving labor costs.

Description

Technical Field

[0001] The present invention relates to the field of vehicle navigation technology, and in particular to an Android vehicle terminal navigation and positioning method and system. Background Art

[0002] With the rapid development of navigation technology, in-car navigation applications are becoming more and more widespread, especially in-car terminals with Android systems, which have a wide audience.

[0003] Currently, high-precision navigation applications for Android-based in-vehicle terminals primarily rely on RTK (Real-time kinematic) positioning technology to achieve high-precision positioning. This allows navigation software to obtain real-time location information, enabling in-vehicle navigation. Common navigation apps, such as AutoNavi Maps and Baidu Maps, obtain positioning data through the Android system's LocationManager class library, which provides interfaces to obtain coordinate information calculated by the positioning module. However, LocationManager lacks a standard data downlink interface, making it impossible to transmit RTCM (Radio Technical Commission for Maritime Services) differential data returned from CORS (Continuously Operating Reference Stations) via the Ntrip (Networked Transport of RTCM via Internet Protocol) protocol to the positioning module. This prevents the positioning module from performing RTK calculations and outputting high-precision positions. Usually, in order to solve this problem, device manufacturers need to spend a lot of manpower to customize and modify the Android system source code, modify the Android system framework layer and hardware abstraction HAL layer, add an RTCM differential data downlink interface, and implement the Ntrip protocol program. After obtaining the RTCM differential data, it can call the customized interface through the LocationManager, pass the differential data through the framework layer and HAL layer once, and finally pass it to the positioning module, thereby realizing the RTK solution of the positioning module and outputting high-precision position information, so that the navigation software can obtain the vehicle's position information through this high-precision position information.

[0004] It can be seen that the existing technology requires customizing and modifying the Android system and separately adding an RTCM data downlink interface. This is difficult to implement, has a long development cycle, requires a lot of manpower, and requires adaptive development for different versions of the Android system. This not only has high investment costs, but also poses the risk of damaging system stability. Summary of the Invention

[0005] The present invention provides an Android vehicle-mounted terminal navigation and positioning method and system, which are used to solve the defects in the prior art that navigation and positioning of an Android system vehicle-mounted terminal requires a separate addition of a data downlink interface and customization of the system, thereby increasing development costs.

[0006] In a first aspect, the present invention provides an Android vehicle-mounted terminal navigation and positioning method, comprising:

[0007] Obtain RTCM differential data from the International Maritime Radio Technical Committee;

[0008] Writing the RTCM differential data to the positioning module based on an idle physical serial port between the main chip and the positioning module, and the positioning module processing the RTCM differential data and outputting position information;

[0009] According to the location information, positioning data is obtained from the preset navigation software based on the LocationManager interface to obtain the navigation positioning result.

[0010] According to an Android vehicle-mounted terminal navigation and positioning method provided by the present invention, obtaining RTCM differential data includes:

[0011] The master control program sends an Ntrip authentication message for the RTCM network transmission protocol via the Internet to the CORS platform of the continuous operation reference station;

[0012] After authentication is passed, the RTCM differential data returned by the CORS platform is received.

[0013] According to an Android vehicle terminal navigation and positioning method provided by the present invention, the RTCM differential data is written to the positioning module based on an idle physical serial port between the main chip and the positioning module, including:

[0014] Determining a first idle physical serial port on the main chip and a second idle physical serial port on the positioning module respectively;

[0015] Connecting the receiving pin of the first idle physical serial port and the receiving pin of the second idle physical serial port in parallel;

[0016] After receiving the RTCM differential data through the network, the main control program transmits the RTCM differential data from the receiving pin of the first idle physical serial port to the receiving pin of the second idle physical serial port.

[0017] According to an Android vehicle-mounted terminal navigation and positioning method provided by the present invention, the positioning module processes the RTCM differential data and outputs position information, including:

[0018] After the positioning module receives the RTCM differential data, it performs real-time differential RTK solution on the RTCM differential data to obtain the position information.

[0019] According to a navigation and positioning method for an Android vehicle-mounted terminal provided by the present invention, obtaining positioning data from a preset navigation software based on the LocationManager interface according to the position information to obtain a navigation and positioning result includes:

[0020] The positioning module sends the location information to the Android hardware abstraction Andriod hal layer through a sending pin;

[0021] The Android hal layer calls back the location information to the Android framework layer through the serial port, and the Android framework layer calls back the location information to the LocationManager interface through the serial port;

[0022] The positioning data output by the preset navigation software is obtained from the LocationManager interface, and the navigation positioning result is obtained according to the positioning data.

[0023] In a second aspect, the present invention further provides an Android vehicle-mounted terminal navigation and positioning system, comprising:

[0024] Acquisition module, used to obtain RTCM differential data of the International Maritime Radio Technical Committee;

[0025] A first processing module is configured to write the RTCM differential data to the positioning module based on an idle physical serial port between the main chip and the positioning module, and the positioning module processes the RTCM differential data and outputs position information;

[0026] The second processing module is used to obtain positioning data from the preset navigation software based on the LocationManager interface according to the position information to obtain a navigation positioning result.

[0027] According to an Android vehicle-mounted terminal navigation and positioning system provided by the present invention, the acquisition module includes an authentication submodule and a receiving submodule, wherein:

[0028] The authentication submodule is used by the main control program to send the RTCM network transmission protocol Ntrip authentication message to the continuous operation reference station CORS platform through the Internet;

[0029] The receiving submodule is used to receive the RTCM differential data returned by the CORS platform after passing the authentication.

[0030] In a third aspect, the present invention also provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the Android vehicle-mounted terminal navigation and positioning method as described above are implemented.

[0031] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-mentioned Android vehicle-mounted terminal navigation and positioning methods.

[0032] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of any of the above-mentioned Android vehicle-mounted terminal navigation and positioning methods.

[0033] The Android vehicle-mounted terminal navigation and positioning method and system provided by the present invention, by serially connecting the idle physical serial port between the vehicle-mounted terminal main chip and the positioning module, enables the positioning module to obtain differential data in real time and then perform data solution, thereby directly calling back high-precision positioning data from the navigation software to obtain navigation and positioning results, avoiding the need to separately set up a downlink data interface and customized development, and saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 This is one of the flow charts of the Android vehicle-mounted terminal navigation and positioning method provided by the present invention;

[0036] Figure 2 This is the second flow chart of the Android vehicle-mounted terminal navigation and positioning method provided by the present invention;

[0037] Figure 3 This is a structural diagram of the Android vehicle-mounted terminal navigation and positioning system provided by the present invention;

[0038] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0039] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0040] Figure 1 This is one of the flow charts of the Android vehicle terminal navigation and positioning method provided by the present invention, such as Figure 1 Shown, including:

[0041] Step S1, obtaining RTCM differential data of the International Radio Technical Committee for Maritime Affairs;

[0042] Step S2: writing the RTCM differential data to the positioning module based on an idle physical serial port between the main chip and the positioning module, and the positioning module processing the RTCM differential data and outputting position information;

[0043] Step S3: According to the location information, positioning data is obtained from the preset navigation software based on the LocationManager interface to obtain a navigation positioning result.

[0044] Specifically, the present invention is aimed at vehicle navigation terminals installed with the Android system. The vehicle navigation terminal downloads RTCM data from the CORS platform, selects an internal idle serial port to pass the RTCM data to the positioning module, and the positioning module solves the RTCM data to obtain the vehicle's location information. The overall process logic is as follows: Figure 2 shown.

[0045] The CORS platform here is a continuously operating satellite positioning service reference station established using multi-base station network RTK technology. The CORS system consists of five parts: base station network, data processing center, data transmission system, positioning and navigation data broadcasting system, and user application system. Each base station and the monitoring and analysis center are connected to each other through a data transmission system to form a dedicated network.

[0046] It is understandable that since a set of serial ports inside the device cannot be opened by two programs at the same time, this will cause data reading disorder. The hal layer itself opens the serial port connecting the positioning module and the Android vehicle terminal through the serial port protocol. After reading the positioning module location information data through the serial port, it calls back to the LocationManager interface through the Androidframework layer, so that all programs that access location information through the Android standard interface LocationManager can read the positioning information. Based on this principle and criterion, the present invention selects a group of idle physical serial ports on the Android vehicle terminal hardware circuit. The RX receiving pin of the serial port is connected in parallel with the RX receiving pin of the positioning module. After the program that implements the Ntrip protocol to obtain RTCM obtains the differential data sent by the CORS station, it opens this group of physical serial ports and writes the differential data through the standard writing method of serial port data. Since this group of serial ports and the RX pin of the serial port connecting the positioning module to the Android vehicle terminal are in parallel, when writing RTCM data to the physical serial port, the positioning module also receives the RTCM data, thereby implementing RTK solution inside the positioning module and outputting location information, so that high-precision positioning information can be obtained by the navigation software through the LocationManager interface.

[0047] The present invention achieves high-precision positioning information acquisition through navigation software by simply selecting an idle serial port inside the vehicle-mounted terminal, without adding additional hardware ports, thereby lowering the threshold for high-precision navigation and reducing development difficulty and workload.

[0048] Based on the above embodiment, step S1 of the method includes:

[0049] The master control program sends an Ntrip authentication message for the RTCM network transmission protocol via the Internet to the CORS platform of the continuous operation reference station;

[0050] After authentication is passed, the RTCM differential data returned by the CORS platform is received.

[0051] Specifically, the vehicle terminal equipped with the Android system sends an Ntrip authentication message to the CORS platform through the main control program installed on it. After the authentication is passed, it receives the RTCM differential data returned by the CORS platform. This data interacts with the vehicle terminal in real time through multiple base stations installed on the road in the CORS platform. By performing difference calculations between multiple data, the real-time differential data information of the vehicle is obtained, which is used to provide differential data to the positioning module for solution to obtain accurate location information.

[0052] The present invention uses real-time interaction between the vehicle terminal and the CORS platform to obtain accurate RTCM differential data, which can be used as an opening signal for the parallel serial port and provide accurate input data for subsequent positioning modules to perform data calculations.

[0053] Based on any of the above embodiments, the step S2 of the method of writing the RTCM differential data to the positioning module based on the idle physical serial port between the main chip and the positioning module includes:

[0054] Determining a first idle physical serial port on the main chip and a second idle physical serial port on the positioning module respectively;

[0055] Connecting the receiving pin of the first idle physical serial port and the receiving pin of the second idle physical serial port in parallel;

[0056] After receiving the RTCM differential data through the network, the main control program transmits the RTCM differential data from the receiving pin of the first idle physical serial port to the receiving pin of the second idle physical serial port.

[0057] Specifically, in order to enable the positioning module to receive RTCM differential data, the present invention selects a group of physical serial ports / dev / ttys0 that are not used by the system or other peripherals on the vehicle terminal, that is, the first idle physical serial port, which is usually set on the main chip, and connects the RX pin of the / dev / ttys0 serial port to the physical serial port / dev / ttys1 on the positioning module in the Android device, that is, the RX pin of the second idle physical serial port, in parallel through a circuit.

[0058] After the main control program receives the RTCM differential data returned by the CORS platform, it writes the RTCM differential data to the main chip through the serial port and opens the serial port / dev / ttys0. Since the serial port / dev / ttys1 of the positioning module is connected in parallel with the serial port / dev / ttys0, the positioning module receives the RTCM differential data.

[0059] The present invention realizes data transmission by utilizing idle physical serial ports in a device, thereby saving port resources and effectively improving data transmission efficiency.

[0060] Based on any of the above embodiments, the positioning module in step S2 of the method processes the RTCM differential data and outputs position information, including:

[0061] After the positioning module receives the RTCM differential data, it performs real-time differential RTK solution on the RTCM differential data to obtain the position information.

[0062] Specifically, after the positioning module receives the RTCM differential data through the serial port / dev / ttys1, it performs RTK calculation inside the module and outputs high-precision position information to the Android HAL layer.

[0063] RTK solutions utilize carrier phase differential GPS technology for real-time positioning. This combination of differential corrections and carrier phase ranging enables centimeter-level kinematic positioning accuracy. Differential GPS utilizes the spatial correlation between the base station and rover to perform differential corrections, thereby minimizing positioning errors. The standard differential GPS principle involves setting up a base station at a high-precision known control point. Single-point positioning at the base station determines the station's coordinates. The coordinates obtained from real-time positioning are then compared with the control point coordinates to determine the positioning error at the base station.

[0064] After the positioning module in the present invention receives RTCM differential data through the parallel physical serial port, accurate position information is obtained by RTK solution, and navigation information can be obtained in real time from the navigation software based on the position information.

[0065] Based on any of the above embodiments, step S3 of the method includes:

[0066] The positioning module sends the location information to the Android hardware abstraction Andriod hal layer through a sending pin;

[0067] The Android hal layer calls back the location information to the Android framework layer through the serial port, and the Android framework layer calls back the location information to the LocationManager interface through the serial port;

[0068] The positioning data output by the preset navigation software is obtained from the LocationManager interface, and the navigation positioning result is obtained according to the positioning data.

[0069] Specifically, the positioning module sends the calculated position information to the Android HAL layer through the TX pin on the physical serial port, and the Android HAL layer calls back to the Andriod framework layer through the interface.

[0070] Furthermore, the Android framework layer calls back the location information to the LocationManager interface, and the navigation software uses the LocationManager interface to display real-time navigation positioning information based on the location information for vehicle reference.

[0071] The present invention uses the Android hal layer and framework layer to call back the solved location information to the LocationManager interface, so that the navigation software can obtain high-precision navigation positioning information without the need for an additional data downlink interface, saving hardware interface resources and development costs, and ensuring the stable operation of the navigation system.

[0072] Below Figure 2 The complete process shown in FIG. Figure 2 As shown, taking Amap Navigation Software as an example, it includes:

[0073] Step 1: Select a physical serial port / dev / ttys0 on the vehicle terminal that is not used by the system or other peripherals;

[0074] Step 2: Connect the RX pin of the physical serial port / dev / ttys0 and the RX pin of the serial port / dev / ttys1 of the positioning module inside the Android device in parallel through a circuit;

[0075] Step 3: The main control program on the Android system vehicle-mounted device runs the Ntrip protocol program. After receiving the RTCM differential data, the main control program opens the serial port / dev / ttys0 and writes the RTCM differential data through the serial port;

[0076] Step 4: The positioning module connects the RX receiving pin of the physical serial port / dev / ttys1 in parallel with the RX pin of / dev / ttys0. When / dev / ttys0 receives the RTCM differential data, the / dev / ttys1 serial port also receives the RTCM differential data. The positioning module then receives the RTCM differential data through the serial port / dev / ttys1 and further performs RTK calculations inside the positioning module to output high-precision position information.

[0077] Step 5: The positioning module sends the high-precision location information to the Android HAL layer through the serial port TX pin. The Android HAL layer calls back to the Android framework layer through the interface. The Android framework calls back the high-precision location information to the LocationManager interface. The Amap software obtains the high-precision navigation positioning information through the LocationManager.

[0078] The present invention can achieve high-precision positioning by navigation software by using only a set of idle serial ports without destroying the native architecture of the Android system and without adding additional difficult software development workload. The implementation is relatively convenient and fast, which adds impetus to the promotion of high-precision positioning and navigation applications.

[0079] The Android vehicle-mounted terminal navigation and positioning system provided by the present invention is described below. The Android vehicle-mounted terminal navigation and positioning system described below and the Android vehicle-mounted terminal navigation and positioning method described above can be referenced to each other.

[0080] Figure 3 This is a structural diagram of the Android vehicle terminal navigation and positioning system provided by the present invention. Figure 3 As shown, it includes: an acquisition module 31, a first processing module 32 and a second processing module 33, wherein:

[0081] The acquisition module 31 is used to obtain RTCM differential data of the International Maritime Radio Technical Committee; the first processing module 32 is used to write the RTCM differential data to the positioning module based on the idle physical serial port between the main chip and the positioning module, and the positioning module processes the RTCM differential data and outputs location information; the second processing module 33 is used to obtain positioning data from the preset navigation software based on the LocationManager interface according to the location information to obtain navigation positioning results.

[0082] The present invention achieves high-precision positioning information acquisition through navigation software by simply selecting an idle serial port inside the vehicle-mounted terminal, without adding additional hardware ports, thereby lowering the threshold for high-precision navigation and reducing development difficulty and workload.

[0083] Based on the above embodiment, the acquisition module 31 includes an authentication submodule 311 and a receiving submodule 312, wherein:

[0084] The authentication submodule 311 is used by the main control program to send an RTCM network transmission protocol Ntrip authentication message to the continuously operating reference station CORS platform via the Internet; the receiving submodule 312 is used to receive the RTCM differential data returned by the CORS platform after the authentication is passed.

[0085] The present invention uses real-time interaction between the vehicle terminal and the CORS platform to obtain accurate RTCM differential data, which can be used as an opening signal for the parallel serial port and provide accurate input data for subsequent positioning modules to perform data calculations.

[0086] Figure 4 An example of a physical structure diagram of an electronic device is shown below. Figure 4As shown, the electronic device may include: a processor (processor) 410, a communication interface (Communications Interface) 420, a memory (memory) 430 and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other via the communication bus 440. The processor 410 can call the logic instructions in the memory 430 to execute the Android vehicle terminal navigation and positioning method, which includes: obtaining RTCM differential data; writing the RTCM differential data to the positioning module based on the idle physical serial port between the main chip and the positioning module, the positioning module processing the RTCM differential data and outputting location information; according to the location information, obtaining positioning data from the preset navigation software based on the LocationManager interface to obtain a navigation and positioning result.

[0087] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0088] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the Android vehicle-mounted terminal navigation and positioning method provided by the above methods, the method including: obtaining RTCM differential data; writing the RTCM differential data to the positioning module based on the idle physical serial port between the main chip and the positioning module, the positioning module processes the RTCM differential data and outputs location information; according to the location information, obtaining positioning data from the preset navigation software based on the LocationManager interface to obtain the navigation positioning result.

[0089] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the Android vehicle-mounted terminal navigation and positioning method provided by the above methods, the method including: obtaining RTCM differential data; writing the RTCM differential data to the positioning module based on the idle physical serial port between the main chip and the positioning module, the positioning module processing the RTCM differential data and outputting location information; according to the location information, obtaining positioning data from the preset navigation software based on the LocationManager interface to obtain the navigation positioning result.

[0090] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0091] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A navigation and positioning method for an Android vehicle-mounted terminal, characterized in that: include: Obtain RTCM differential data from the International Maritime Radio Technical Committee; Writing the RTCM differential data to the positioning module based on an idle physical serial port between the main chip and the positioning module, and the positioning module processing the RTCM differential data and outputting position information; According to the location information, obtain positioning data from the preset navigation software based on the LocationManager interface to obtain the navigation positioning result; The step of writing the RTCM differential data to the positioning module based on an idle physical serial port between the main chip and the positioning module includes: Determining a first idle physical serial port on the main chip and a second idle physical serial port on the positioning module respectively; Connecting the receiving pin of the first idle physical serial port and the receiving pin of the second idle physical serial port in parallel; After receiving the RTCM differential data through the network, the main control program transmits the RTCM differential data from the receiving pin of the first idle physical serial port to the receiving pin of the second idle physical serial port.

2. The Android vehicle-mounted terminal navigation and positioning method according to claim 1, characterized in that: The obtaining of RTCM differential data includes: The master control program sends an Ntrip authentication message for the RTCM network transmission protocol via the Internet to the CORS platform of the continuous operation reference station; After authentication is passed, the RTCM differential data returned by the CORS platform is received.

3. The Android vehicle-mounted terminal navigation and positioning method according to claim 1, characterized in that: The positioning module processes the RTCM differential data and outputs position information, including: After the positioning module receives the RTCM differential data, it performs real-time differential RTK solution on the RTCM differential data to obtain the position information.

4. The Android vehicle-mounted terminal navigation and positioning method according to claim 1, characterized in that: The method of obtaining positioning data from a preset navigation software based on the location information and the LocationManager interface to obtain a navigation positioning result includes: The positioning module sends the location information to the Android hardware abstraction Andriod hal layer through a sending pin; The Android hal layer calls back the location information to the Android framework layer through the serial port, and the Android framework layer calls back the location information to the LocationManager interface through the serial port; The positioning data output by the preset navigation software is obtained from the LocationManager interface, and the navigation positioning result is obtained according to the positioning data.

5. An Android vehicle terminal navigation and positioning system, characterized in that: include: Acquisition module, used to obtain RTCM differential data of the International Maritime Radio Technical Committee; A first processing module is configured to write the RTCM differential data to the positioning module based on an idle physical serial port between the main chip and the positioning module, and the positioning module processes the RTCM differential data and outputs position information; The second processing module is used to obtain positioning data from the preset navigation software based on the LocationManager interface according to the position information to obtain a navigation positioning result; The first processing module is specifically configured to: Determining a first idle physical serial port on the main chip and a second idle physical serial port on the positioning module respectively; Connecting the receiving pin of the first idle physical serial port and the receiving pin of the second idle physical serial port in parallel; After receiving the RTCM differential data through the network, the main control program transmits the RTCM differential data from the receiving pin of the first idle physical serial port to the receiving pin of the second idle physical serial port.

6. The Android vehicle-mounted terminal navigation and positioning system according to claim 5, characterized in that: The acquisition module includes an authentication submodule and a receiving submodule, wherein: The authentication submodule is used by the main control program to send the RTCM network transmission protocol Ntrip authentication message to the continuous operation reference station CORS platform through the Internet; The receiving submodule is used to receive the RTCM differential data returned by the CORS platform after passing the authentication.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the Android vehicle-mounted terminal navigation and positioning method as described in any one of claims 1 to 4 are implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the steps of the Android vehicle-mounted terminal navigation and positioning method as described in any one of claims 1 to 4 are implemented.

9. A computer program product comprising a computer program, characterized in that When the computer program is executed by the processor, the steps of the Android vehicle-mounted terminal navigation and positioning method as described in any one of claims 1 to 4 are implemented.

Images