Data transmission method, base station and mobile station

Abstract

The application provides a data transmission method, a base station and a mobile station. The method comprises the following steps: the base station acquires positioning navigation data transmitted by a satellite; the base station acquires a transmission frequency adjustment request of the mobile station; wherein the transmission frequency adjustment request is used for indicating the complexity of the environment where the mobile station is located or the transmission frequency to be adjusted; the base station adjusts the transmission frequency according to the transmission frequency adjustment request; the base station transmits differential electric information to the mobile station at the adjusted transmission frequency; and the mobile station is used for performing navigation positioning according to the differential electric information acquired from the base station and the positioning navigation data acquired from the satellite. The method can reduce the communication flow between the base station and the mobile station, reduce the flow occupation, guarantee the reliability of the differential electric information received by the mobile station, and improve the accuracy of the navigation positioning of the mobile station.

Description

Technical Field

[0001] This application relates to the field of navigation and positioning technology, and more particularly to a data transmission method, a base station, and a mobile station. Background Technology

[0002] Self-moving devices are becoming increasingly popular due to their ability to operate automatically within a work area without user supervision. In existing technologies, self-moving devices rely on mobile stations for positioning and navigation. Specifically, a base station transmits differential messages to the mobile station at a fixed frequency. The mobile station then uses these differential messages, along with positioning and navigation signals from satellites, to perform navigation and positioning.

[0003] In practical applications, the applicant found that when the base station sends differential messages to the mobile station at a fixed frequency, the communication traffic consumption is high and the quality of the differential messages is difficult to guarantee. Summary of the Invention

[0004] This application aims to at least partially address one of the technical problems in the related art.

[0005] To address this, the first aspect of this application proposes a data transmission method. On one hand, the base station can adjust the transmission frequency based on the complexity of the mobile station's environment. When the environment is highly complex, the transmission frequency is increased to ensure the reliability of the differential messages received by the mobile station, thereby improving the accuracy of navigation and positioning. Conversely, when the environment is less complex, the transmission frequency is decreased to reduce communication traffic between the base station and the mobile station, thereby reducing bandwidth consumption and power consumption, and improving the endurance of both. On the other hand, the transmission frequency can also be set by the user, thus enhancing the flexibility and applicability of this data transmission method.

[0006] The second aspect of this application proposes another data transmission method.

[0007] A third aspect of this application provides a base station.

[0008] The fourth aspect of this application provides a mobile station.

[0009] The fifth aspect of this application provides an electronic device.

[0010] A computer-readable storage medium is provided in the sixth aspect of this application.

[0011] The seventh aspect of this application proposes a self-moving device.

[0012] The eighth aspect of this application proposes a self-moving working system.

[0013] The first aspect of this application proposes a data transmission method, including:

[0014] The base station acquires positioning and navigation data transmitted by satellites;

[0015] The base station obtains a transmission frequency adjustment request from the mobile station; wherein, the transmission frequency adjustment request is used to indicate the complexity of the environment in which the mobile station is located, or the transmission frequency to which it needs to be adjusted.

[0016] The base station adjusts the transmission frequency according to the transmission frequency adjustment request;

[0017] The base station sends differential messages to the mobile station at an adjusted transmission frequency; the mobile station is used to perform navigation and positioning based on the differential messages obtained from the base station and the positioning and navigation data obtained from the satellite.

[0018] The data transmission method of this application embodiment obtains positioning and navigation data transmitted by satellites and a transmission frequency adjustment request from the mobile station through a base station. Based on the transmission frequency adjustment request, the transmission frequency is adjusted, and then a differential message is sent to the mobile station at the adjusted transmission frequency. In this embodiment, on the one hand, the base station can adjust the transmission frequency according to the complexity of the environment in which the mobile station is located. When the environment complexity is high, the transmission frequency is increased to ensure the reliability of the differential message received by the mobile station, thereby improving the accuracy of navigation and positioning. When the environment complexity is low, the transmission frequency is decreased to reduce communication traffic between the base station and the mobile station, reduce traffic consumption, and reduce the power consumption of both the base station and the mobile station, thereby improving their endurance. On the other hand, the transmission frequency can also be set by the user, thereby improving the flexibility and applicability of this data transmission method.

[0019] The second aspect of this application proposes another data transmission method, including:

[0020] The mobile station generates a transmission frequency adjustment request; the transmission frequency adjustment request is used to indicate the complexity of the environment in which the mobile station is located, or the transmission frequency to which it needs to be adjusted.

[0021] The mobile station sends the transmission frequency adjustment request to the base station; the base station is configured to adjust the transmission frequency of the differential message according to the transmission frequency adjustment request, and send the differential message at the adjusted transmission frequency.

[0022] The mobile station obtains the differential message from the base station;

[0023] The mobile station performs navigation and positioning based on differential messages obtained from the base station and positioning and navigation data obtained from the satellite.

[0024] The data transmission method of this application embodiment involves a mobile station generating a transmission frequency adjustment request and sending it to a base station. The base station adjusts the transmission frequency of the differential message according to the request and transmits the differential message at the adjusted frequency. The mobile station obtains the differential message from the base station and performs navigation and positioning based on the differential message obtained from the base station and positioning and navigation data obtained from satellites. In this embodiment, on the one hand, the base station can adjust the transmission frequency according to the complexity of the environment in which the mobile station is located. When the environment complexity is high, the transmission frequency is increased to ensure the reliability of the differential message received by the mobile station, thereby improving the accuracy of navigation and positioning. When the environment complexity is low, the transmission frequency is decreased to reduce communication traffic between the base station and the mobile station, reduce traffic consumption, and reduce the power consumption of both the base station and the mobile station, thereby improving their endurance. On the other hand, the transmission frequency can also be set by the user, thereby improving the flexibility and applicability of this data transmission method.

[0025] A third aspect of this application provides a base station, comprising:

[0026] The acquisition module is used to acquire positioning and navigation data transmitted by satellites; and to acquire transmission frequency adjustment requests from mobile stations; wherein the transmission frequency adjustment request is used to indicate the complexity of the environment in which the mobile station is located, or the transmission frequency to which it needs to be adjusted.

[0027] An adjustment module is used to adjust the transmission frequency according to the transmission frequency adjustment request;

[0028] The transmitting module is used to transmit differential messages to the mobile station at an adjusted transmission frequency.

[0029] The base station in this embodiment acquires positioning and navigation data transmitted by satellites and a transmission frequency adjustment request from the mobile station. Based on the adjustment request, it adjusts the transmission frequency and then sends differential messages to the mobile station at the adjusted frequency. In this embodiment, on the one hand, the base station can adjust the transmission frequency according to the complexity of the mobile station's environment. When the environment is highly complex, the transmission frequency is increased to ensure the reliability of the differential messages received by the mobile station, thereby improving the accuracy of navigation and positioning. Conversely, when the environment is less complex, the transmission frequency is decreased to reduce communication traffic between the base station and the mobile station, reduce bandwidth consumption, and decrease power consumption, thus improving the endurance of both the base station and the mobile station. On the other hand, the transmission frequency can also be set by the user, thereby improving the flexibility and applicability of this data transmission method.

[0030] A fourth aspect of this application provides a mobile station, comprising:

[0031] A generation module is used to generate a transmission frequency adjustment request; the transmission frequency adjustment request is used to indicate the complexity of the environment in which the mobile station is located, or the transmission frequency to which it needs to be adjusted.

[0032] The transmitting module is used to send the transmission frequency adjustment request to the base station; the base station is used to adjust the transmission frequency of the differential message according to the transmission frequency adjustment request, and send the differential message at the adjusted transmission frequency.

[0033] The acquisition module is used to acquire the differential message from the base station;

[0034] The processing module is used to perform navigation and positioning based on the differential message obtained from the base station and the positioning and navigation data obtained from the satellite.

[0035] In this embodiment, the mobile station generates a transmission frequency adjustment request and sends it to the base station. The base station adjusts the transmission frequency of the differential message according to the request and transmits the differential message at the adjusted frequency. The mobile station obtains the differential message from the base station and performs navigation and positioning based on the differential message obtained from the base station and positioning and navigation data obtained from satellites. In this embodiment, on the one hand, the base station can adjust the transmission frequency according to the complexity of the mobile station's environment. When the environment complexity is high, the transmission frequency is increased to ensure the reliability of the differential message received by the mobile station, thereby improving the accuracy of navigation and positioning. When the environment complexity is low, the transmission frequency is decreased to reduce communication traffic between the base station and the mobile station, reduce traffic consumption, and reduce power consumption of both the base station and the mobile station, thereby improving their endurance. On the other hand, the transmission frequency can also be set by the user, thereby improving the flexibility and applicability of this data transmission method.

[0036] A fifth aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the data transmission method as described in the first aspect of this application, or implements the data transmission method as described in the second aspect of this application.

[0037] A sixth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, characterized in that, when executed by a processor, the program implements the data transmission method as described in the first aspect of this application, or implements the data transmission method as described in the second aspect of this application.

[0038] A seventh aspect embodiment of this application provides a self-moving device, including: a moving module and a task execution module, and a driving circuit connected to the moving module and the task execution module, wherein the driving circuit drives the moving module to move the self-moving device and drives the task execution module to perform a work task.

[0039] The self-moving device is either fixedly connected to the mobile station or detachably connected.

[0040] The mobile station is configured to execute the data transmission method described in the second aspect of this application, acquire differential messages, and perform navigation and positioning of the self-moving device based on the differential messages.

[0041] The self-moving device in this embodiment of the application moves the self-moving device through a driving circuit driving a moving module, and drives a task execution module to perform work tasks, so that the self-moving device can perform automatic operations within the work area.

[0042] An eighth aspect of this application provides a self-moving working system, including a mobile station, a base station, and a self-moving device;

[0043] The base station is configured to execute the data transmission method described in the first aspect of the present application and send differential messages to the mobile station;

[0044] The mobile station is configured to execute the data transmission method described in the second aspect of this application, acquire differential messages, and perform navigation and positioning of the self-moving device based on the differential messages;

[0045] The self-moving device is used to operate based on navigation and positioning.

[0046] In the self-moving operating system of this application embodiment, the base station can adjust the transmission frequency according to the complexity of the environment in which the mobile station is located. When the complexity of the environment in which the mobile station is located is high, the transmission frequency is increased to ensure the reliability of the differential messages received by the mobile station, thereby improving the accuracy of the mobile station's navigation and positioning. When the complexity of the environment in which the mobile station is located is low, the transmission frequency is decreased to reduce the communication traffic between the base station and the mobile station, reduce traffic consumption, and reduce the power consumption of the base station and the mobile station, thereby improving the endurance of the base station and the mobile station.

[0047] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0048] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0049] Figure 1 This is a flowchart illustrating the data transmission method provided in Embodiment 1 of this application;

[0050] Figure 2 This is a flowchart illustrating the data transmission method provided in Embodiment 2 of this application;

[0051] Figure 3 This is a schematic flowchart of the data transmission method provided in Embodiment 3 of this application;

[0052] Figure 4 This is a schematic diagram of the base station structure provided in Embodiment 4 of this application;

[0053] Figure 5 This is a schematic diagram of the base station structure provided in Embodiment 5 of this application;

[0054] Figure 6 This is a schematic diagram of the structure of the mobile station provided in Embodiment Six of this application;

[0055] Figure 7 This is a schematic diagram of the structure of the mobile station provided in Embodiment 7 of this application;

[0056] Figure 8 This is a schematic diagram of the data transmission system provided in Embodiment 8 of this application;

[0057] Figure 9 This is a schematic diagram of the structure of the self-moving device provided in Embodiment 9 of this application;

[0058] Figure 10 This is a schematic diagram of the automatic lawnmower in the embodiments of this application;

[0059] Figure 11 This is a schematic diagram of the structure of the self-moving working system provided in Embodiment 10 of this application. Detailed Implementation

[0060] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0061] To address the technical problems in existing technologies where high bandwidth consumption and inconsistent differential message quality occur when a base station transmits differential messages to a mobile station at a fixed frequency, this application proposes the following solutions: Firstly, the base station can adjust the transmission frequency based on the complexity of the mobile station's environment. When the environment is highly complex, the transmission frequency is increased to ensure the reliability of the received differential messages, thereby improving the accuracy of navigation and positioning. Conversely, when the environment is less complex, the transmission frequency is decreased to reduce communication bandwidth consumption between the base station and the mobile station, thereby reducing power consumption and improving the endurance of both. Secondly, the transmission frequency can also be set by the user, thus enhancing the flexibility and applicability of this data transmission method.

[0062] The data transmission method, base station, and mobile station of this application are described below with reference to the accompanying drawings.

[0063] Figure 1 This is a schematic flowchart of the data transmission method provided in Embodiment 1 of this application. This data transmission method is applied to a base station.

[0064] In this embodiment, both the base station and the mobile station can receive satellite signals, referred to as positioning and navigation signals. The base station can send differential messages to the mobile station. The mobile station performs navigation and positioning based on the differential messages obtained from the base station and the positioning and navigation data obtained from the satellite, achieving differential satellite positioning. Specifically, the mobile station can determine the positioning error based on the positioning and navigation data obtained from the satellite and the differential messages obtained from the base station. Then, it corrects the positioning and navigation data obtained from the satellite based on the positioning error and determines the current location information of the mobile station. Then, based on the corrected location information and the differential messages sent by the base station, it determines the relative position between the mobile station and the base station. Based on the relative position, it performs navigation and positioning on a map of a preset working area. The relative position may include information such as longitude, latitude, and altitude.

[0065] For example, base stations and mobile stations can receive Global Positioning System (GPS) signals to achieve Differential Global Positioning System (DGPS) positioning. Alternatively, base stations and mobile stations can also receive signals from Galileo Satellite Navigation System, BeiDou Satellite Navigation System, Global Navigation Satellite System (GLONASS), etc. This application does not limit this.

[0066] It should be noted that differential GPS technology includes Real-Time Kinematic (RTK) carrier phase differential technology and Continuously Operating Reference Stations (CORS) technology.

[0067] This application embodiment uses the example of a base station and a mobile station receiving GPS signals. Specifically, both the base station and the mobile station can include a GPS antenna. The base station and the mobile station can receive GPS signals transmitted by satellites through the GPS antenna. That is, this application embodiment uses positioning and navigation data as an example of GPS signals.

[0068] In this embodiment of the application, a map of the working area needs to be generated before the mobile station can operate.

[0069] It should be noted that the map of the working area generated by the mobile station can record the absolute coordinates of each location point relative to the Earth, i.e., latitude and longitude, or the coordinates recorded in the relative coordinate system XY, without any restrictions.

[0070] like Figure 1 As shown, the data transmission method includes the following steps:

[0071] Step 101: The base station acquires the positioning and navigation data sent by the satellite.

[0072] As one possible implementation, the base station can have a wireless signal receiving module, which can receive positioning and navigation signals transmitted by satellites. For example, when the positioning and navigation signal transmitted by the satellite is a GPS signal, the wireless signal receiving module can be a GPS antenna.

[0073] Step 102: The base station obtains the transmission frequency adjustment request from the mobile station; wherein, the transmission frequency adjustment request is used to indicate the complexity of the environment in which the mobile station is located, or the transmission frequency to which it needs to be adjusted.

[0074] In this embodiment, both the base station and the mobile station may include a communication module, and the base station and the mobile station can communicate with each other through the communication module. The communication module may include a radio and a radio antenna. Furthermore, to ensure the reliability of long-distance transmission between the base station and the mobile station, the communication module may also include Sub-1G, WIFI, 2G / 3G / 4G / 5G modules; there are no limitations on this.

[0075] As one possible implementation, the mobile station can generate a transmission frequency adjustment request based on the complexity of its environment. The mobile station can then send this request to the base station via its own communication module. Correspondingly, the base station can receive the transmission frequency adjustment request through its corresponding communication module. The transmission frequency adjustment request indicates the complexity of the environment in which the mobile station operates.

[0076] As another possible implementation, when the mobile station provides location and navigation for self-moving devices, or for small electric vehicles, electric robots, wearable electronic products, etc., users can adjust the transmission frequency according to their needs. For example, the mobile station can provide an input interface for users to set the transmission frequency. The mobile station can receive user-triggered commands, which indicate the desired transmission frequency, and then generate a transmission frequency adjustment request based on the user commands. This transmission frequency adjustment request indicates the desired transmission frequency to be adjusted to.

[0077] Step 103: The base station adjusts the transmission frequency according to the transmission frequency adjustment request.

[0078] As one possible implementation, when a transmission frequency adjustment request is used to indicate the complexity of the mobile station's environment, a pre-defined correspondence between environmental complexity and transmission frequency can be established. After the base station receives the mobile station's transmission frequency adjustment request, it can query the aforementioned correspondence based on the environmental complexity indicated in the request to obtain the transmission frequency corresponding to that complexity. This operation is simple and easy to implement. After obtaining the transmission frequency, frequency adjustment can be performed based on it.

[0079] The transmission frequency exhibits a positive correlation with environmental complexity. For instance, higher environmental complexity necessitates a higher transmission frequency to ensure the reliability of differential messages received by the mobile station, thereby improving the accuracy of navigation and positioning. Conversely, lower environmental complexity corresponds to a lower transmission frequency, reducing communication traffic between the base station and the mobile station, minimizing bandwidth consumption, and lowering power consumption, thus enhancing the endurance of both.

[0080] As another possible implementation, when the transmission frequency adjustment request is used to indicate the desired transmission frequency, the base station can directly adjust the transmission frequency according to the transmission frequency adjustment request after receiving the transmission frequency adjustment request from the mobile station.

[0081] Step 104: The base station sends a differential message to the mobile station at the adjusted transmission frequency; the mobile station is used to perform navigation and positioning based on the differential message obtained from the base station and the positioning and navigation data obtained from the satellite.

[0082] In this embodiment, after the base station adjusts its transmission frequency, it can send differential messages to the mobile station at the adjusted frequency. Specifically, the base station can send the adjusted differential messages to the mobile station through its own communication module. Correspondingly, the mobile station can receive the differential messages sent by the base station through its corresponding communication module. Simultaneously, the mobile station can receive positioning and navigation data sent by satellites through its own wireless signal receiving module, and then perform navigation and positioning based on the differential messages obtained from the base station and the positioning and navigation data obtained from the satellites.

[0083] Specifically, the mobile station can determine the positioning error based on the positioning and navigation data obtained from the satellite and the differential message obtained from the base station. Then, it corrects the positioning and navigation data obtained from the satellite based on the positioning error and determines the current location information of the mobile station. Then, based on the corrected location information and the differential message sent by the base station, it determines the relative position between the mobile station and the base station. Based on the relative position, it performs navigation and positioning on a map of a preset working area, thereby providing efficient and reliable navigation data and improving the accuracy of navigation and positioning.

[0084] The data transmission method in this embodiment obtains positioning and navigation data transmitted by satellites and a transmission frequency adjustment request from the mobile station through the base station. Based on the frequency adjustment request, the base station adjusts the transmission frequency and then sends differential messages to the mobile station at the adjusted frequency. In this embodiment, on the one hand, the base station can adjust the transmission frequency according to the complexity of the mobile station's environment. When the environment complexity is high, the transmission frequency is increased to ensure the reliability of the differential messages received by the mobile station, thereby improving the accuracy of navigation and positioning. Conversely, when the environment complexity is low, the transmission frequency is decreased to reduce communication traffic between the base station and the mobile station, reduce bandwidth consumption, and lower the power consumption of both the base station and the mobile station, thereby improving their endurance. On the other hand, the transmission frequency can also be set by the user, thereby improving the flexibility and applicability of this data transmission method.

[0085] As one possible implementation, to ensure the quality of the differential message obtained by the mobile station from the base station in subsequent steps, the base station can also filter the positioning and navigation signals it obtains through its wireless signal receiving module before sending the differential message to the mobile station. The following section will discuss this in conjunction with... Figure 2 The above process will be explained in detail.

[0086] Figure 2 This is a flowchart illustrating the data transmission method provided in Embodiment 2 of this application.

[0087] like Figure 2 As shown, in Figure 1Based on the illustrated embodiment, after step 101, the data transmission method may further include:

[0088] Step 201: The base station determines the signal quality of the acquired positioning and navigation signals.

[0089] In this embodiment of the application, the base station can determine the signal quality based on at least one of the number of satellites transmitting positioning and navigation signals and the signal-to-noise ratio of the positioning and navigation signals.

[0090] For example, when there are a large number of satellites transmitting positioning and navigation signals, it can be determined that the signal quality of the positioning and navigation signals is relatively good. Or, when the signal-to-noise ratio of the positioning and navigation signals is high, it can be determined that the signal quality of the positioning and navigation signals is relatively good.

[0091] Step 202: The base station filters the acquired positioning and navigation signals based on signal quality.

[0092] As one possible implementation, the base station can retain positioning and navigation signals with signal quality higher than a preset threshold. The preset threshold can be, for example, pre-set by the base station's built-in program, or it can be set by the user without restriction.

[0093] In this embodiment of the application, by filtering the acquired positioning and navigation signals through the base station, higher quality positioning and navigation signals can be retained. This improves the reliability of navigation data and the accuracy of navigation and positioning when the mobile station performs navigation and positioning based on the differential message sent by the base station in subsequent steps.

[0094] In one possible application scenario, when the mobile station is in a state where precise positioning is not required—for example, when it is charging, in standby mode, or / or in a suspended state—the mobile station can send a pause transmission request to the base station. Upon receiving the pause transmission request, the base station can pause sending differential messages to the mobile station. Alternatively, when the mobile station is in a state where precise positioning is not required, it can use inertial devices such as gyroscopes and odometers for positioning and navigation, and send a pause transmission request to the base station. Upon receiving the pause transmission request, the base station can pause sending differential messages to the mobile station. This reduces communication traffic, decreases bandwidth consumption, and lowers the power consumption of both the base station and the mobile station, thereby improving their endurance.

[0095] In another possible application scenario, when the mobile station is in a state requiring precise positioning, such as when it has finished charging and / or is in a working state, the mobile station can send a resume transmission request to the base station. Correspondingly, when the base station receives the resume transmission request, it can resume sending differential messages to the mobile station. Alternatively, when the mobile station is in a state requiring precise positioning, it can pause positioning and navigation using inertial devices such as gyroscopes and odometers, and send a resume transmission request to the base station. Correspondingly, when the base station receives the resume transmission request, it can resume sending differential messages to the mobile station, thereby improving the accuracy of the mobile station's navigation and positioning.

[0096] To implement the above embodiments, this application also proposes a data transmission method.

[0097] Figure 3 This is a flowchart illustrating the data transmission method provided in Embodiment 3 of this application.

[0098] The data transmission method of this application embodiment is applied to a mobile station, which can perform positioning and navigation for self-moving devices. The self-moving devices can be devices suitable for unattended operation, such as automatic lawnmowers, automatic cleaning equipment, automatic irrigation equipment, and automatic snow sweepers. Alternatively, the mobile station can also perform positioning and navigation for small electric vehicles, electric robots, electronic wearable products, etc., without limitation.

[0099] like Figure 3 As shown, the data transmission method may include the following steps:

[0100] Step 301: The mobile station generates a transmission frequency adjustment request; the transmission frequency adjustment request is used to indicate the complexity of the environment in which the mobile station is located, or the transmission frequency to which it needs to be adjusted.

[0101] As one possible implementation, the mobile station can generate a transmission frequency adjustment request based on the complexity of its environment. The transmission frequency adjustment request indicates the complexity of the environment in which the mobile station is located.

[0102] The transmission frequency that the mobile station needs to adjust to is positively correlated with the complexity of the environment in which the mobile station is located. For example, when the complexity of the environment in which the mobile station is located is high, the transmission frequency that needs to be transmitted is higher, and when the complexity of the environment is low, the transmission frequency that needs to be transmitted is lower.

[0103] For example, a mobile station can determine the complexity of its environment based on the signal quality of the positioning and navigation signals acquired from the satellite. Specifically, a higher signal quality indicates a lower level of environmental complexity, while a lower signal quality indicates a higher level of environmental complexity.

[0104] Alternatively, the mobile station can detect the complexity of the environment in which it is located based on sensors, such as an environmental complexity sensor.

[0105] As another possible implementation, the transmission frequency can also be set by the user. Specifically, when the mobile station performs positioning and navigation for self-moving devices, or for small electric vehicles, electric robots, wearable electronic products, etc., the user can adjust the transmission frequency according to their needs. For example, the mobile station can provide an input interface for the user to set the transmission frequency. The mobile station can obtain user instructions, wherein the user instructions indicate the desired transmission frequency, and then generate a transmission frequency adjustment request based on the user instructions. The transmission frequency adjustment request indicates the desired transmission frequency.

[0106] Step 302: The mobile station sends a transmission frequency adjustment request to the base station; the base station is used to adjust the transmission frequency of the differential message according to the transmission frequency adjustment request, and send the differential message at the adjusted transmission frequency.

[0107] In this embodiment, both the base station and the mobile station may include a communication module, and the base station and the mobile station can communicate with each other through the communication module. The communication module may include a radio and a radio antenna. Furthermore, to ensure the reliability of long-distance transmission between the base station and the mobile station, the communication module may also include Sub-1G, WIFI, 2G / 3G / 4G / 5G modules; there are no limitations on this.

[0108] Optionally, the mobile station can send a transmission frequency adjustment request to the base station through its own communication module. Correspondingly, the base station can receive the transmission frequency adjustment request through its corresponding communication module, adjust the transmission frequency of the differential message according to the request, and send the differential message at the adjusted transmission frequency. For the specific execution process, please refer to steps 102-104 in the above embodiments, which will not be repeated here.

[0109] Step 303: The mobile station obtains the differential message from the base station.

[0110] In this embodiment of the application, when the base station adjusts the transmission frequency, the base station can send differential messages to the mobile station at the adjusted transmission frequency. Specifically, the base station can send the adjusted differential messages to the mobile station through its own communication module. Correspondingly, the mobile station can receive the differential messages sent by the base station through the communication module corresponding to the base station.

[0111] Step 304: The mobile station performs navigation and positioning based on the differential message obtained from the base station and the positioning and navigation data obtained from the satellite.

[0112] In this embodiment of the application, the mobile station can receive positioning and navigation data sent by the satellite through its own wireless signal receiving module, and then perform navigation and positioning based on the differential message obtained from the base station and the positioning and navigation data obtained from the satellite.

[0113] Specifically, the mobile station can determine the positioning error based on the positioning and navigation data obtained from the satellite and the differential message obtained from the base station. Then, it corrects the positioning and navigation data obtained from the satellite based on the positioning error and determines the current location information of the mobile station. Then, based on the corrected location information and the differential message sent by the base station, it determines the relative position between the mobile station and the base station. Based on the relative position, it performs navigation and positioning on a map of a preset working area, thereby providing efficient and reliable navigation data and improving the accuracy of navigation and positioning.

[0114] The data transmission method in this embodiment involves a mobile station generating a transmission frequency adjustment request and sending it to a base station. The base station adjusts the transmission frequency of the differential message according to the request and transmits the differential message at the adjusted frequency. The mobile station obtains the differential message from the base station and performs navigation and positioning based on the differential message obtained from the base station and positioning and navigation data obtained from satellites. In this embodiment, on the one hand, the base station can adjust the transmission frequency according to the complexity of the mobile station's environment. When the environment complexity is high, the transmission frequency is increased to ensure the reliability of the differential message received by the mobile station, thereby improving the accuracy of navigation and positioning. When the environment complexity is low, the transmission frequency is decreased to reduce communication traffic between the base station and the mobile station, reduce traffic consumption, and reduce power consumption of both the base station and the mobile station, thereby improving their endurance. On the other hand, the transmission frequency can also be set by the user, thereby improving the flexibility and applicability of this data transmission method.

[0115] As one possible implementation, to reduce communication traffic, lower the power consumption of base stations and mobile stations, and improve their endurance, in this embodiment, when the mobile station is in a state where precise positioning is not required, the mobile station can generate a pause transmission request. The state where precise positioning is not required includes at least one of charging, standby, and paused operation. The mobile station can then send a pause transmission request to the base station. Upon receiving the pause transmission request, the base station can pause sending differential messages to the mobile station. Alternatively, when the mobile station is in a state where precise positioning is not required, inertial devices such as gyroscopes and odometers can be used for positioning and navigation, while simultaneously sending a pause transmission request to the base station. Upon receiving the pause transmission request, the base station can pause sending differential messages to the mobile station, thereby reducing traffic consumption, lowering the power consumption of the base station and mobile station, and thus improving their endurance.

[0116] As one possible implementation, to improve the accuracy of mobile station navigation and positioning, when the mobile station is in a state requiring precise positioning, such as when the mobile station has finished charging and / or is in a working state, the mobile station can send a resume transmission request to the base station. Accordingly, when the base station receives the resume transmission request sent by the mobile station, it can resume sending differential messages to the mobile station. Alternatively, when the mobile station is in a state requiring precise positioning, the mobile station can pause the use of inertial devices such as gyroscopes and odometers for positioning and navigation, and simultaneously send a resume transmission request to the base station. Accordingly, when the base station receives the resume transmission request sent by the mobile station, it can resume sending differential messages to the mobile station, thereby improving the accuracy of mobile station navigation and positioning.

[0117] Understandably, when the rover is in at least one of the following states: charging, standby, or paused operation, it is in a state where precise positioning is not required. Therefore, the rover can use inertial devices such as gyroscopes and odometers for positioning and navigation. Alternatively, when the rover is within a preset shadow area, for example, when it is obstructed, specifically, the rover can determine that reduced positioning accuracy indicates obstruction by comparing historical coordinates. In this case, the rover can use inertial devices such as gyroscopes and odometers for positioning and navigation. Or, if the rover determines that the signal quality is below a threshold based on at least one of the number of satellites transmitting positioning and navigation signals and the signal-to-noise ratio of the positioning and navigation signals, the rover can use inertial devices such as gyroscopes and odometers for positioning and navigation.

[0118] The threshold can be preset by the mobile station's built-in program, or it can be set by the user without restriction.

[0119] Understandably, to improve the accuracy of rover station navigation and positioning, when the rover station is in a state requiring precise positioning, such as when it has finished charging and / or is in operation, the rover station can stop using inertial devices such as gyroscopes and odometers for positioning and navigation. Alternatively, when the rover station moves out of a preset shadow area, if it determines through historical coordinate comparison that the positioning accuracy has not decreased, it can stop using inertial devices such as gyroscopes and odometers for positioning and navigation. Or, if the rover station determines that the signal quality is not lower than a threshold based on at least one of the number of satellites transmitting positioning and navigation signals and the signal-to-noise ratio of the positioning and navigation signals, the rover station can stop using inertial devices such as gyroscopes and odometers for positioning and navigation.

[0120] To implement the above embodiments, this application also proposes a base station.

[0121] Figure 4 This is a schematic diagram of the base station structure provided in Embodiment 4 of this application.

[0122] like Figure 4 As shown, the base station 100 includes: an acquisition module 110, an adjustment module 120, and a transmission module 130. Among them,

[0123] The acquisition module 110 is used to acquire positioning and navigation data transmitted by satellites and to acquire transmission frequency adjustment requests from mobile stations. The transmission frequency adjustment request is used to indicate the complexity of the environment in which the mobile station is located, or the transmission frequency to which it needs to be adjusted.

[0124] The adjustment module 120 is used to adjust the transmission frequency according to the transmission frequency adjustment request.

[0125] As one possible implementation, the adjustment module 120 is specifically used to query the corresponding transmission frequency based on the environmental complexity indicated by the transmission frequency adjustment request; wherein the transmission frequency and environmental complexity have a positive relationship; and frequency adjustment is performed based on the queried transmission frequency.

[0126] The transmitting module 130 is used to transmit differential messages to the mobile station at an adjusted transmission frequency.

[0127] Furthermore, in one possible implementation of the embodiments of this application, see [link to relevant documentation]. Figure 5 ,exist Figure 4 Based on the illustrated embodiment, the base station 100 may further include:

[0128] The determination module 140 is used to determine the signal quality of the acquired positioning and navigation signals.

[0129] The filtering module 150 is used to filter the acquired positioning and navigation signals based on signal quality.

[0130] The pause module 160 is used to pause sending differential messages to the mobile station when a pause transmission request is received from the mobile station; wherein, the pause transmission request is generated when the mobile station is in a state where precise positioning is not required, or when the mobile station uses inertial devices for positioning and navigation.

[0131] The recovery module 170 is used to resume sending differential messages to the mobile station when a recovery transmission request is received from the mobile station; wherein, the recovery transmission request is generated when the mobile station is in a state that requires precise positioning or when inertial devices are not used for positioning and navigation.

[0132] It should be noted that the aforementioned Figures 1-2 The explanation of the data transmission method embodiment also applies to the base station 100 of this embodiment, and will not be repeated here.

[0133] In this embodiment, the base station acquires positioning and navigation data transmitted by satellites and a transmission frequency adjustment request from the mobile station. Based on the adjustment request, it adjusts the transmission frequency and then sends differential messages to the mobile station at the adjusted frequency. In this embodiment, on the one hand, the base station can adjust the transmission frequency according to the complexity of the mobile station's environment. When the environment is highly complex, the transmission frequency is increased to ensure the reliability of the differential messages received by the mobile station, thereby improving the accuracy of navigation and positioning. Conversely, when the environment is less complex, the transmission frequency is decreased to reduce communication traffic between the base station and the mobile station, reduce bandwidth consumption, and decrease power consumption, thus improving the endurance of both the base station and the mobile station. On the other hand, the transmission frequency can also be set by the user, thereby improving the flexibility and applicability of this data transmission method.

[0134] To implement the above embodiments, this application also proposes a mobile station.

[0135] Figure 6 This is a schematic diagram of the structure of the mobile station provided in Embodiment Six of this application.

[0136] like Figure 6 As shown, the mobile station 200 includes: a generation module 210, a sending module 220, an acquisition module 230, and a processing module 240. Among them,

[0137] The generation module 210 is used to generate a transmission frequency adjustment request; the transmission frequency adjustment request is used to indicate the complexity of the environment in which the mobile station is located, or the transmission frequency to which it needs to be adjusted.

[0138] As one possible implementation, the generation module 210 is specifically used to determine the signal quality of the positioning and navigation signals acquired from the satellite; determine the environmental complexity of the mobile station based on the signal quality; and generate a transmission frequency adjustment request based on the environmental complexity.

[0139] As another possible implementation, the generation module 210 is specifically used to use sensors to detect the complexity of the environment in which the mobile station is located; and generate a transmission frequency adjustment request based on the complexity of the environment.

[0140] As another possible implementation, the generation module 210 is specifically used to obtain user instructions; wherein the user instructions are used to indicate the transmission frequency to be adjusted; and a transmission frequency adjustment request is generated according to the user instructions.

[0141] The transmitting module 220 is used to send a transmission frequency adjustment request to the base station; the base station is used to adjust the transmission frequency of the differential message according to the transmission frequency adjustment request, and send the differential message at the adjusted transmission frequency.

[0142] The acquisition module 230 is used to acquire differential messages from the base station.

[0143] The processing module 240 is used to perform navigation and positioning based on differential messages obtained from the base station and positioning and navigation data obtained from the satellite.

[0144] Furthermore, in one possible implementation of the embodiments of this application, see [link to relevant documentation]. Figure 7 ,exist Figure 6 Based on the illustrated embodiment, the mobile station 200 may further include:

[0145] The generation and transmission module 250 is used to generate a pause transmission request when the mobile station is in a state where precise positioning is not required or when positioning and navigation are performed using inertial devices; the state where precise positioning is not required includes at least one of charging, standby, and paused operation; and to send a pause transmission request to the base station so that the base station suspends the transmission of differential messages to the mobile station.

[0146] Optionally, the generation and transmission module 250 is further configured to generate a resumption transmission request when the mobile station is in a state requiring precise positioning or when positioning and navigation are not performed using inertial devices; the state requiring precise positioning includes at least one of the states of ending charging and operation; and send the resumption transmission request to the base station so that the base station resumes sending differential messages to the mobile station.

[0147] Module 260 is used to perform positioning and navigation using inertial devices when the mobile station is in a preset shadow area, or the signal quality of the positioning and navigation signal obtained from the satellite is lower than a threshold, or the mobile station is in a state where precise positioning is not required.

[0148] The stop module 270 is used to stop using inertial devices for positioning and navigation when the mobile station moves out of the preset shadow area, or the signal quality of the positioning and navigation signal obtained from the satellite is not lower than a threshold, or the mobile station is in a state that requires precise positioning.

[0149] It should be noted that the aforementioned Figure 3 The explanation of the data transmission method embodiment also applies to the mobile station 200 of this embodiment, and will not be repeated here.

[0150] In this embodiment, the mobile station generates a transmission frequency adjustment request and sends it to the base station. The base station adjusts the transmission frequency of the differential message according to the request and transmits the differential message at the adjusted frequency. The mobile station obtains the differential message from the base station and performs navigation and positioning based on the differential message obtained from the base station and positioning and navigation data obtained from satellites. In this embodiment, on the one hand, the base station can adjust the transmission frequency according to the complexity of the mobile station's environment. When the environment complexity is high, the transmission frequency is increased to ensure the reliability of the received differential message, thereby improving the accuracy of navigation and positioning. When the environment complexity is low, the transmission frequency is decreased to reduce communication traffic between the base station and the mobile station, reduce traffic consumption, and reduce power consumption of both the base station and the mobile station, thereby improving their endurance. On the other hand, the transmission frequency can also be set by the user, thereby improving the flexibility and applicability of this data transmission method.

[0151] To achieve the above objectives, this application also proposes a data transmission system.

[0152] Figure 8 This is a schematic diagram of the data transmission system provided in Embodiment 8 of this application.

[0153] like Figure 8 As shown, the data transmission system may include: the aforementioned Figures 4-5 The example proposes a base station 100, Figures 6-7 The embodiment proposes a mobile station 200 and a signal tower base station 300. Among them,

[0154] Both base station 100 and mobile station 200 may include a communication module, which enables communication between them. The communication module may include a radio and a radio antenna. Furthermore, to ensure reliability of long-distance transmission between the base station and the mobile station, the communication module may also include Sub-1G, WIFI, 2G / 3G / 4G / 5G modules; there are no restrictions on this.

[0155] Base station 100 and mobile station 200 may also include a wireless signal receiving module, through which the base station and mobile station can receive positioning and navigation data transmitted by satellite.

[0156] Base station 100 transmits differential messages to signal tower base station 300 via its communication module. Signal tower base station 300 then transmits the differential messages from base station 100 to mobile station 200. After receiving the differential messages from base station 100 via its own communication module, mobile station 200 performs positioning and navigation based on the positioning and navigation data transmitted by satellites received by its own wireless signal receiving module and the differential messages transmitted by base station 100.

[0157] In this embodiment of the data transmission system, on the one hand, the base station 100 can adjust the transmission frequency according to the complexity of the environment in which the mobile station 200 is located. When the environment complexity is high, the transmission frequency is increased to ensure the reliability of the differential messages received by the mobile station 200, thereby improving the accuracy of navigation and positioning. Conversely, when the environment complexity is low, the transmission frequency is decreased to reduce communication traffic between the base station 100 and the mobile station 200, reducing traffic consumption and power consumption, thus improving the endurance of both. On the other hand, the transmission frequency can also be set by the user, thereby enhancing the flexibility and applicability of this data transmission method.

[0158] To implement the above embodiments, this application also proposes an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the aforementioned embodiments of this application. Figures 1-2 The data transmission method proposed in the embodiments, or the implementation as described above in this application. Figure 3 The data transmission method proposed in the embodiments.

[0159] To implement the above embodiments, this application also proposes a computer-readable storage medium storing a computer program thereon, characterized in that, when the program is executed by a processor, it implements the aforementioned embodiments of this application. Figures 1-2 The data transmission method proposed in the embodiments, or the implementation as described above in this application. Figure 3 The data transmission method proposed in the embodiments.

[0160] To implement the above embodiments, this application also proposes a self-moving device.

[0161] Figure 9 This is a schematic diagram of the structure of the self-moving device provided in Embodiment 9 of this application.

[0162] The self-moving device in this application embodiment can be an automatic lawnmower, automatic cleaning equipment, automatic irrigation equipment, automatic snow sweeper, or other equipment suitable for unattended operation.

[0163] like Figure 9 As shown, the self-moving device 400 includes a moving module 410 and a task execution module 420, as well as a driving circuit 430 connected to the moving module 410 and the task execution module 420. The driving circuit 430 drives the moving module 410 to move the self-moving device 400 and drives the task execution module 420 to perform work tasks.

[0164] In one possible implementation, the self-moving device 400 may include a control module, which may include a storage unit for storing a map of the work area. The control module can control the drive circuit 430 to drive the task execution module 420 to perform work tasks within the map of the work area.

[0165] In one possible implementation, the drive circuit 430 may include a first drive circuit for driving the movement module 410 to move the self-moving device. Specifically, the movement module 410 may include a drive motor, and the first drive circuit can drive the drive motor to move the self-moving device. The drive circuit 430 may also include a second drive circuit for driving the task execution module 420 to perform work tasks, so that the self-moving device 400 can perform automatic operations within the work area.

[0166] For example, when the self-moving device 400 is an automatic lawnmower, the task execution module 420 can be a cutting component, and the second drive circuit can drive the cutting component to perform cutting work. The cutting component includes a cutting motor, and the second drive circuit drives the cutting motor to move the blade disc and blades.

[0167] The self-moving device 400 is either fixedly connected to the mobile station 200 or detachably connected.

[0168] Mobile station 200 is configured to perform the aforementioned Figure 3 The data transmission method proposed in the embodiment obtains differential messages and performs navigation and positioning on the self-moving device 400 based on the differential messages.

[0169] As an example, when the self-moving device is an automatic lawnmower, the structure of the automatic lawnmower can be as follows: Figure 10As shown, the mobile station 200 is detachably or fixedly connected to the automatic lawnmower. The automatic lawnmower includes a housing 1; a moving module, installed on the housing 1, which includes tracks 2 driven by a drive motor to move the automatic lawnmower; and a task execution module, installed at the bottom of the housing 1, which includes a cutting assembly 3 to perform the mowing work.

[0170] Furthermore, the automatic lawnmower may also include an energy module, which may include a battery pack to provide power for the movement and operation of the automatic lawnmower.

[0171] The automatic lawnmower may also include a control module, which is electrically connected to the movement module, the task execution module, and the energy module. It is used to control the drive circuit, drive the movement module to move the automatic lawnmower, and control the task execution module to perform work tasks.

[0172] The self-moving device 400 of this application embodiment is driven by the moving module 410 through the driving circuit 430 to move the self-moving device 400 and drive the task execution module 420 to execute the work task, so that the self-moving device 400 can perform automatic operation in the work area.

[0173] To achieve the above embodiments, this application also proposes a self-moving working system.

[0174] Figure 11 This is a schematic diagram of the structure of the self-moving working system provided in Embodiment 10 of this application.

[0175] like Figure 11 As shown, the self-mobile working system 500 includes: a mobile station 200, a base station 100, and a self-mobile device 400.

[0176] in,

[0177] Base station 100 is configured to perform the aforementioned Figures 1-2 The data transmission method proposed in the embodiment sends differential messages to the mobile station 200.

[0178] Mobile station 200 is configured to perform the aforementioned Figure 3 The data transmission method proposed in the embodiment obtains differential messages and performs navigation and positioning on the self-moving device 400 based on the differential messages.

[0179] The mobile station 200 is fixedly connected to the self-moving device 400, or the mobile station 200 and the self-moving device 400 are detachably connected.

[0180] Self-moving device 400, used for navigation-based positioning operations.

[0181] In this embodiment of the application, after adjusting the transmission frequency, the base station 100 sends a differential message to the mobile station 200 at the adjusted transmission frequency. After receiving the differential message, the mobile station 200 performs navigation and positioning based on the differential message obtained from the base station 100 and the positioning and navigation data obtained from the satellite. Thus, the self-moving device 400 can work based on navigation and positioning, that is, the self-moving device 400 can perform automatic operations within the working area.

[0182] In the self-moving working system of this application embodiment, the base station 100 can adjust the transmission frequency according to the complexity of the environment in which the mobile station 200 is located. When the complexity of the environment in which the mobile station 200 is located is high, the transmission frequency is increased to ensure the reliability of the differential messages received by the mobile station 200, thereby improving the accuracy of navigation and positioning of the mobile station 200. When the complexity of the environment in which the mobile station 200 is located is low, the transmission frequency is decreased to reduce the communication traffic between the base station 100 and the mobile station 200, reduce traffic consumption, and reduce the power consumption of the base station 100 and the mobile station 200, thereby improving the endurance of the base station 100 and the mobile station 200.

[0183] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0184] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0185] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0186] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0187] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0188] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0189] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0190] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A data transmission method, characterized in that, The method includes the following steps: The mobile station generates a transmission frequency adjustment request; The mobile station sends the transmission frequency adjustment request; The mobile station receives a differential message, which is transmitted at a transmission frequency adjusted according to the transmission frequency adjustment request. The mobile station generates a transmission frequency adjustment request, including: The mobile station determines the signal quality of the positioning and navigation signals received from the satellite; The mobile station determines the complexity of the environment in which it is located based on the signal quality. The mobile station generates the transmission frequency adjustment request based on the complexity of the environment; The mobile station receives positioning and navigation data transmitted by satellite; The mobile station performs navigation and positioning based on the differential message and the positioning and navigation data; The method further includes: When the base station receives the mobile station's request to pause transmission, it suspends sending the differential message to the mobile station; wherein, when the mobile station is in a state where precise positioning is not required or when positioning and navigation are performed using inertial devices, the mobile station generates the request to pause transmission; the state where precise positioning is not required includes at least one of charging, standby, and suspended operation.

2. The data transmission method according to claim 1, characterized in that, The method further includes: The transmission frequency adjustment request is used to indicate the complexity of the environment in which the mobile station is located; The differential message is transmitted at a transmission frequency adjusted according to the transmission frequency adjustment request, including: Based on the environmental complexity indicated by the transmission frequency adjustment request, query the corresponding transmission frequency; The transmission frequency and the environmental complexity are positively correlated. The differential message is transmitted at the queried transmission frequency.

3. The data transmission method according to claim 1, characterized in that, The method further includes: The transmission frequency adjustment request is used to indicate the transmission frequency to which it needs to be adjusted; The mobile station generates a transmission frequency adjustment request, including: The mobile station acquires user instructions; wherein the user instructions are used to indicate the transmission frequency to be adjusted. According to the user instruction, the mobile station generates the transmission frequency adjustment request.

4. The data transmission method according to claim 1, characterized in that, The method further includes: The mobile station generates a request to resume transmission; The request to resume transmission is generated when the mobile station is in a state requiring precise positioning or when it is not using inertial devices for positioning and navigation.

5. The data transmission method according to claim 1, characterized in that, The method further includes: When the mobile station uses inertial devices for positioning and navigation, it includes situations where: the mobile station is within a preset shadow area, or the signal quality of the positioning and navigation signal obtained from the satellite is below a threshold. When the mobile station stops using inertial devices for positioning and navigation, it includes when the mobile station moves out of the preset shadow area, or when the signal quality of the positioning and navigation signal obtained from the satellite is not lower than the threshold.

6. A mobile station, the mobile station being used to implement the data transmission method according to any one of claims 1-5, characterized in that, include: A generation module is used to generate a transmission frequency adjustment request, which indicates the complexity of the environment in which the mobile station is located, or the transmission frequency to which it needs to be adjusted. The sending module is used to send the transmission frequency adjustment request; The acquisition module is used to receive differential messages, which are transmitted at a transmission frequency adjusted according to the transmission frequency adjustment request; it is also used to receive positioning and navigation data transmitted by satellites. The processing module is used to perform navigation and positioning based on the differential message and the positioning and navigation data.

7. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the data transmission method as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the data transmission method as described in any one of claims 1-5.

9. A self-moving device, characterized in that, include: A mobile module and a task execution module, and a drive circuit connected to the mobile module and the task execution module, wherein the drive circuit drives the mobile module to move the self-moving device and drives the task execution module to perform work tasks; The self-moving device is either fixedly connected to the mobile station or detachably connected. The mobile station is configured to perform the data transmission method according to any one of claims 1-5, receive differential messages, and perform navigation and positioning of the self-moving device based on the differential messages.

10. A self-moving working system, characterized in that, Including mobile sites and self-moving devices; The mobile station is configured to perform the data transmission method according to any one of claims 1-5, receive differential messages, and perform navigation and positioning of the self-moving device according to the differential messages; The self-moving device is used to operate based on navigation and positioning.

11. The self-moving working system according to claim 10, characterized in that, The mobile station is fixedly connected to the self-moving device, or the mobile station is detachably connected to the self-moving device.

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