Positioning service switching method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of positioning, in particular to a positioning service switching method and device, computer equipment and a storage medium. The method comprises the following steps: receiving first positioning service data and second positioning service data corresponding to a terminal in a first positioning enhancement service edge area at a sampling moment under the condition that a first positioning enhancement service needs to be switched to a second positioning enhancement service; determining a transition positioning result corresponding to the sampling moment according to the first positioning service data and the second positioning service data at the sampling moment; and outputting a transition positioning result at the sampling time so as to smoothly switch from the first positioning enhancement service to the second positioning enhancement service. According to the method and the device, the situation that the positioning result jumps is prevented in the process of switching from the first positioning enhancement service to the second positioning enhancement service, and smooth switching from the first positioning enhancement service to the second positioning enhancement service is achieved under the condition that extra user satellite communication consumption and terminal power consumption are not increased.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a positioning service switching method, device, computer equipment and storage medium. Background Art

[0002] At present, application scenarios such as drones and agricultural and forestry plant protection may have ground-based positioning enhancement services or satellite-based positioning enhancement services. Single services cannot meet business needs, and it is necessary to provide satellite-ground integrated services. Among them, ground-based positioning enhancement services usually use cellular networks to broadcast RTK (Real-Time Kinematic, real-time dynamic carrier phase difference technology) corrections to correct the errors of GNSS (Global Navigation Satellite System) satellite positioning and improve positioning accuracy. Satellite-based positioning enhancement services usually refer to broadcasting PPP (Precise Point Positioning, precise single-point positioning), PPP-RTK (real-time high-precision positioning technology combining PPP and RTK) and other corrections through satellites (here refers to communication satellites rather than GNSS satellites) or cellular networks to improve positioning accuracy.

[0003] However, when switching positioning services between ground-based positioning augmentation services and satellite-based positioning augmentation services, the existing technology mainly selects and switches based on conditions such as cellular signals or ground-based data reliability, and does not consider the positioning result jump caused by the inconsistency of satellite-based and ground-based correction results. As a result, when the terminal switches positioning services between ground-based positioning augmentation services and satellite-based positioning augmentation services, it is easy to cause a large deviation in positioning results. Summary of the invention

[0004] Based on this, it is necessary to provide a positioning service switching method, device, computer equipment and storage medium to address the above technical problems, which can prevent a large deviation in positioning results when switching positioning services between ground-based positioning augmentation services and satellite-based positioning augmentation services.

[0005] In a first aspect, the present application provides a method for switching a positioning service. The method comprises:

[0006] In the case where it is necessary to switch from the first positioning enhanced service to the second positioning enhanced service, receiving first positioning service data and second positioning service data corresponding to the terminal in the edge area of ​​the first positioning enhanced service at the sampling time; wherein the terminal receives the first positioning service data and the second positioning service data through a cellular network;

[0007] Determine a transitional positioning result corresponding to the sampling moment according to the first positioning service data and the second positioning service data at the sampling moment;

[0008] The transition positioning result at the sampling moment is output to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0009] In one embodiment, determining the transitional positioning result corresponding to the sampling moment according to the first positioning service data and the second positioning service data at the sampling moment includes:

[0010] Determining filter coefficients and preset linear smoothing coefficients;

[0011] A transition positioning result corresponding to the sampling moment is determined according to the first positioning service data, the second positioning service data, the filter coefficient and the linear smoothing coefficient.

[0012] In one embodiment, if the first positioning augmentation service is a ground-based positioning augmentation service, the second positioning augmentation service is a satellite-based positioning augmentation service, and the filter coefficient includes a ground-based filter coefficient and a satellite-based filter coefficient, then determining the transitional positioning result corresponding to the sampling time according to the first positioning service data, the second positioning service data, the filter coefficient and the linear smoothing coefficient includes:

[0013] Determining a first positioning result of the terminal according to the first positioning service data;

[0014] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, weighted smoothing processing is performed on the second positioning service data and the first positioning result to obtain a transitional positioning result at the sampling time.

[0015] In one embodiment, performing weighted smoothing processing on the second positioning service data and the first positioning result according to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient to obtain the transitional positioning result at the sampling time includes:

[0016] Using the first positioning result as prior data, performing a solution convergence process on the second positioning service data to obtain a second positioning result of the terminal;

[0017] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, weighted smoothing processing is performed on the first positioning result and the second positioning result to obtain a transitional positioning result at the sampling time.

[0018] In one embodiment, if the first positioning augmentation service is a satellite-based positioning augmentation service, the second positioning augmentation service is a ground-based positioning augmentation service, and the filter coefficient includes a ground-based filter coefficient and a satellite-based filter coefficient, then determining the transitional positioning result corresponding to the sampling time according to the first positioning service data, the second positioning service data, the filter coefficient and the linear smoothing coefficient includes:

[0019] Determining a second positioning result of the terminal according to the second positioning service data;

[0020] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, weighted smoothing processing is performed on the first positioning service data and the second positioning result to obtain a transitional positioning result at the sampling time.

[0021] In one embodiment, performing weighted smoothing processing on the first positioning service data and the second positioning result according to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient to obtain the transitional positioning result at the sampling time includes:

[0022] Using the second positioning result as prior data, performing a solution convergence process on the first positioning service data to obtain a first positioning result of the terminal;

[0023] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, weighted smoothing processing is performed on the first positioning result and the second positioning result to obtain a transitional positioning result at the sampling time.

[0024] In a second aspect, the present application also provides a positioning service switching device. The device includes:

[0025] A receiving module, configured to receive, when switching from the first positioning enhanced service to the second positioning enhanced service, first positioning service data and second positioning service data corresponding to the terminal in the edge area of ​​the first positioning enhanced service at a sampling time; wherein the terminal receives the first positioning service data and the second positioning service data through a cellular network;

[0026] A determination module, configured to determine a transitional positioning result corresponding to the sampling moment according to the first positioning service data and the second positioning service data at the sampling moment;

[0027] An output module is used to output the transition positioning result at the sampling moment to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0028] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0029] In the case where it is necessary to switch from the first positioning enhanced service to the second positioning enhanced service, receiving first positioning service data and second positioning service data corresponding to the terminal in the edge area of ​​the first positioning enhanced service at the sampling time; wherein the terminal receives the first positioning service data and the second positioning service data through a cellular network;

[0030] Determine a transitional positioning result corresponding to the sampling moment according to the first positioning service data and the second positioning service data at the sampling moment;

[0031] The transition positioning result at the sampling moment is output to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0032] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0033] In the case where it is necessary to switch from the first positioning enhanced service to the second positioning enhanced service, receiving first positioning service data and second positioning service data corresponding to the terminal in the edge area of ​​the first positioning enhanced service at the sampling time; wherein the terminal receives the first positioning service data and the second positioning service data through a cellular network;

[0034] Determine a transitional positioning result corresponding to the sampling moment according to the first positioning service data and the second positioning service data at the sampling moment;

[0035] The transition positioning result at the sampling moment is output to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0036] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0037] In the case where it is necessary to switch from the first positioning enhanced service to the second positioning enhanced service, receiving first positioning service data and second positioning service data corresponding to the terminal in the edge area of ​​the first positioning enhanced service at the sampling time; wherein the terminal receives the first positioning service data and the second positioning service data through a cellular network;

[0038] Determine a transitional positioning result corresponding to the sampling moment according to the first positioning service data and the second positioning service data at the sampling moment;

[0039] The transition positioning result at the sampling moment is output to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0040] The above-mentioned positioning service switching method, device, computer equipment and storage medium, by receiving the first positioning service data and the second positioning service data corresponding to the edge area of ​​the first positioning enhanced service of the terminal, and determining the transition positioning result corresponding to the sampling time according to the first positioning service data and the second positioning service data, and then outputting the transition positioning result at the sampling time, so as to smoothly switch from the first positioning enhanced service to the second positioning enhanced service. According to the above content, it can be seen that the present application determines the transition positioning result by the first positioning service data and the second positioning service data at the sampling time. Since the transition positioning result is jointly determined according to the first positioning service data and the second positioning service data, the transition positioning result output by the present application is neither the first positioning result determined according to the first positioning enhanced service nor the second positioning result determined according to the second positioning enhanced service, but a transition positioning result jointly determined by the two positioning enhanced services. Therefore, by outputting the transition positioning result, the switching process from the first positioning enhanced service to the second positioning enhanced service is realized, and the jumping of the positioning result is prevented, and the result deviation between the positioning results output by the terminal each time is reduced without increasing the additional user communication consumption and the terminal power consumption, so as to realize the smooth switching from the first positioning enhanced service to the second positioning enhanced service. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] FIG1 is an application environment diagram of a positioning service switching method proposed in an embodiment of the present application;

[0042] FIG2 is a schematic diagram of a flow chart of a first location service switching method proposed in an embodiment of the present application;

[0043] FIG3 is a flow chart of a second location service switching method proposed in an embodiment of the present application;

[0044] FIG4 is a signaling diagram of a first location service switching method proposed in an embodiment of the present application;

[0045] FIG5 is a signaling diagram of a second location service switching method proposed in an embodiment of the present application;

[0046] FIG6 is a structural block diagram of a positioning service switching device proposed in an embodiment of the present application;

[0047] FIG. 7 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. In the description of the present application, the description of the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms is not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples without contradicting each other.

[0050] The positioning service switching method provided in the embodiment of the present application can be applied to the application environment shown in Figure 1. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. By receiving the first positioning service data and the second positioning service data corresponding to the edge area of ​​the first positioning enhanced service of the terminal, and determining the transition positioning result corresponding to the sampling time according to the first positioning service data and the second positioning service data, and then outputting the transition positioning result at the sampling time, so as to smoothly switch from the first positioning enhanced service to the second positioning enhanced service. Among them, the terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices, and the Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented with an independent server or a server cluster consisting of multiple servers.

[0051] In one embodiment, as shown in FIG. 2 , a method for switching a positioning service is provided, and the method is applied to the terminal 102 in FIG. 1 as an example for description, including the following steps:

[0052] S201, when it is necessary to switch from a first positioning enhanced service to a second positioning enhanced service, receiving first positioning service data and second positioning service data corresponding to a terminal in a first positioning enhanced service edge area at a sampling time.

[0053] It should be noted that when it is necessary to determine whether the terminal needs to switch from the first positioning enhancement service to the second positioning enhancement service at the current moment, the edge area that needs to switch from the first positioning enhancement service to the second positioning enhancement service can be obtained, and then, the edge area is used as the network edge grid; therefore, when determining whether the terminal needs to switch from the first positioning enhancement service to the second positioning enhancement service at the current moment, it can be verified whether the terminal enters the network edge grid. If the terminal moves from the coverage area of ​​the first positioning enhancement service to the network edge grid, it is determined that the terminal needs to switch from the first positioning enhancement service to the second positioning enhancement service.

[0054] In one embodiment of the present application, when it is necessary to receive the first positioning service data and the second positioning service data corresponding to the terminal in the first positioning enhanced service edge area at the sampling moment, an information acquisition request can be sent to the broadcasting platform, and the information acquisition request carries a time identifier corresponding to the sampling moment. The information acquisition request is used to instruct the broadcasting platform to send the first positioning service data and the second positioning service data corresponding to the terminal in the first positioning enhanced service edge area at the sampling moment to the terminal.

[0055] The terminal receives the first positioning service data and the second positioning service data through a cellular network.

[0056] In one embodiment of the present application, when the terminal moves to the network edge grid, the dual reception mode is triggered to receive the first positioning service data and the second positioning service data through cellular network transmission, and then execute subsequent processes based on the first positioning service data and the second positioning service data.

[0057] As an example, in the process of a terminal gradually moving from an area covered by a cellular network to a satellite broadcasting area without cellular network coverage, the terminal receives first positioning service data and second positioning service data through a cellular network within a network edge grid, so as to achieve a smooth switch from a first positioning enhancement service to a second positioning enhancement service through the first positioning service data and the second positioning service data.

[0058] As another example, in the process of a terminal gradually moving from a satellite broadcasting area to a cellular network coverage area without satellite coverage, the terminal receives first positioning service data and second positioning service data through a cellular network within a network edge grid, so as to achieve a smooth switching from a first positioning enhancement service to a second positioning enhancement service through the first positioning service data and the second positioning service data.

[0059] S202: Determine a transitional positioning result corresponding to the sampling time according to the first positioning service data and the second positioning service data at the sampling time.

[0060] It should be noted that in order to achieve a smooth switch from the first positioning enhancement service to the second positioning enhancement service, in the process of determining the transition positioning result, it is necessary to combine the first positioning service data and the second positioning service data to jointly determine the transition positioning result.

[0061] In one embodiment of the present application, when it is necessary to determine the transitional positioning result corresponding to the sampling moment, the data ratios of the first positioning service data and the second positioning service data to be used when determining the transitional positioning result corresponding to the sampling moment can be determined respectively; then, data fusion of the first positioning service data and the second positioning service data is achieved based on the data ratio, and then, the fused first positioning service data and the second positioning service data are used to determine the transitional positioning result corresponding to the sampling moment.

[0062] To further illustrate, the first positioning result corresponding to the first positioning service data and the second positioning result corresponding to the second positioning service data can be determined respectively, and then, based on the first positioning result and the second positioning result, the transition positioning result corresponding to the sampling moment is determined.

[0063] In one embodiment of the present application, when it is necessary to determine the transition positioning result corresponding to the sampling moment, the line between the first positioning combination and the second positioning result can also be determined, and the midpoint of the line between the first positioning combination and the second positioning result can be used as the transition positioning result corresponding to the sampling moment.

[0064] S203: output the transition positioning result at the sampling moment to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0065] In one embodiment of the present application, after the terminal outputs the transitional positioning result at the sampling moment, and the terminal has smoothly switched from the first positioning enhancement service to the second positioning enhancement service, if the first positioning enhancement service is a ground-based enhanced positioning service and the second positioning enhancement service is a satellite-based enhanced positioning service; the terminal may stop receiving the first positioning service data corresponding to the ground-based enhanced positioning service, and only receive the second positioning service data corresponding to the satellite-based enhanced positioning service, and in the subsequent positioning process, determine the terminal position of the terminal only based on the second positioning service data corresponding to the satellite-based enhanced positioning service.

[0066] In another embodiment of the present application, after the terminal outputs the transitional positioning result at the sampling moment, and the terminal has smoothly switched from the first positioning enhancement service to the second positioning enhancement service, if the first positioning enhancement service is a satellite-based enhanced positioning service; the second positioning enhancement service is a ground-based enhanced positioning service; then the terminal can stop receiving the second positioning service data, and only receive the first positioning service data, and in the subsequent positioning process, determine the terminal position of the terminal only based on the first positioning service data corresponding to the ground-based enhanced positioning service.

[0067] The above-mentioned positioning service switching method determines the transition positioning result corresponding to the sampling time by receiving the first positioning service data and the second positioning service data corresponding to the edge area of ​​the first positioning enhanced service of the terminal, and according to the first positioning service data and the second positioning service data, and then outputs the transition positioning result at the sampling time, so as to smoothly switch from the first positioning enhanced service to the second positioning enhanced service. According to the above content, it can be known that the present application determines the transition positioning result by the first positioning service data and the second positioning service data at the sampling time. Since the transition positioning result is jointly determined according to the first positioning service data and the second positioning service data, the transition positioning result output by the present application is neither the first positioning result determined according to the first positioning enhanced service nor the second positioning result determined according to the second positioning enhanced service, but a transition positioning result jointly determined by the two positioning enhanced services. Therefore, by outputting the transition positioning result, the switching process from the first positioning enhanced service to the second positioning enhanced service is realized, and the jumping of the positioning result is prevented, and the result deviation between the positioning results output by the terminal each time is reduced without increasing the additional user communication consumption and the terminal power consumption, so as to realize the smooth switching from the first positioning enhanced service to the second positioning enhanced service.

[0068] In one embodiment, as shown in FIG3 , when it is necessary to determine the transitional positioning result corresponding to the sampling time according to the first positioning service data and the second positioning service data at the sampling time, the following contents may be specifically included:

[0069] S301, determining a filter coefficient and a preset linear smoothing coefficient.

[0070] It should be noted that the linear smoothing coefficient and the filter coefficient can be determined in advance through simulation experiments. The value range of the linear smoothing coefficient and the filter coefficient is not limited here. In addition, the linear smoothing coefficient and the filter coefficient can be set or adjusted according to the historical experience of the operation and maintenance personnel and the actual situation of the terminal positioning.

[0071] The filter coefficients include ground-based filter coefficients and satellite-based filter coefficients.

[0072] S302: Determine a transitional positioning result corresponding to a sampling time according to the first positioning service data, the second positioning service data, a filter coefficient and a linear smoothing coefficient.

[0073] It should be noted that when it is necessary to determine the transition positioning result corresponding to the sampling moment, different methods can be adopted in combination with different situations of the terminal to implement the process of determining the transition positioning result corresponding to the sampling moment based on the first positioning service data, the second positioning service data, the filter coefficient and the linear smoothing coefficient.

[0074] In one embodiment of the present application, if the first positioning enhancement service is a ground-based positioning enhancement service, and the second positioning enhancement service is a satellite-based positioning enhancement service, and the filter coefficient includes a ground-based filter coefficient and a satellite-based filter coefficient, then determining the transitional positioning result corresponding to the sampling moment based on the first positioning service data, the second positioning service data, the filter coefficient and the linear smoothing coefficient may include the following contents: determining the first positioning result of the terminal based on the first positioning service data; performing weighted smoothing processing on the second positioning service data and the first positioning result based on the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient to obtain the transitional positioning result at the sampling moment.

[0075] Among them, after the terminal smoothly switches from the first positioning enhancement service to the second positioning enhancement service, the notification broadcasting platform can be switched from the first positioning service playback to the second positioning service playback, and the connection to the cellular network side can be disconnected.

[0076] Furthermore, when weighted smoothing is performed on the second positioning service data and the first positioning result according to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, the following contents may be included: taking the first positioning result as a priori data, performing solution convergence processing on the second positioning service data, and obtaining the second positioning result of the terminal; performing weighted smoothing processing on the first positioning result and the second positioning result according to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, and obtaining a transitional positioning result at the sampling moment.

[0077] Specifically, the transitional positioning result at the sampling time can be obtained by substituting the ground-based filter coefficient, the satellite-based filter coefficient, the linear smoothing coefficient, the first positioning result and the second positioning result into the weighted smoothing formula.

[0078] The weighted smoothing formula is as follows:

[0079]

[0080] Among them, X sb is the second positioning result, X gb is the first positioning result, y is the final output positioning result during the switching process, h1 is the satellite-based filter coefficient, h2 is the ground-based filter coefficient, and a is the linear smoothing coefficient.

[0081] In another embodiment of the present application, if the first positioning enhancement service is a satellite-based positioning enhancement service, and the second positioning enhancement service is a ground-based positioning enhancement service, the filter coefficient includes a ground-based filter coefficient and a satellite-based filter coefficient; then, based on the first positioning service data, the second positioning service data, the filter coefficient and the linear smoothing coefficient, determining the transitional positioning result corresponding to the sampling moment may include the following contents: determining the second positioning result of the terminal based on the second positioning service data; performing weighted smoothing processing on the first positioning service data and the second positioning result based on the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient to obtain the transitional positioning result at the sampling moment.

[0082] After the terminal receives the first positioning service data and the second positioning service data at the sampling time, the satellite service is disconnected.

[0083] Furthermore, when weighted smoothing processing is performed on the first positioning service data and the second positioning result according to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, the following contents may be included: taking the second positioning result as a priori data, performing solution convergence processing on the first positioning service data, and obtaining the first positioning result of the terminal; performing weighted smoothing processing on the first positioning result and the second positioning result according to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, and obtaining a transitional positioning result at the sampling moment.

[0084] Specifically, the transitional positioning result at the sampling time can be obtained by substituting the ground-based filter coefficient, the satellite-based filter coefficient, the linear smoothing coefficient, the first positioning result and the second positioning result into the weighted smoothing formula.

[0085] The weighted smoothing formula is as follows:

[0086]

[0087] Among them, X sb is the second positioning result, X gb is the first positioning result, y is the final output positioning result during the switching process, h1 is the satellite-based filter coefficient, h2 is the ground-based filter coefficient, and a is the linear smoothing coefficient.

[0088] The above-mentioned positioning service switching method determines the transition positioning result corresponding to the sampling time by determining the ground-based filter coefficient, the satellite-based filter coefficient and the preset linear smoothing coefficient, and then determines the transition positioning result corresponding to the sampling time according to the first positioning service data, the second positioning service data, the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient. Since the transition positioning result output by the present application is neither the first positioning result determined according to the first positioning enhancement service nor the second positioning result determined according to the second positioning enhancement service, but a transition positioning result determined by integrating the two positioning services, therefore, by outputting the transition positioning result, the switching process from the first positioning enhancement service to the second positioning enhancement service is realized, and the positioning result jump is prevented.

[0089] In one embodiment, as shown in FIG4 , if the first positioning augmentation service is a ground-based positioning augmentation service and the second positioning augmentation service is a satellite-based positioning augmentation service, the transitional positioning result at the output sampling time may include the following contents:

[0090] S401: When it is necessary to switch from a first positioning enhancement service to a second positioning enhancement service, the terminal sends an information acquisition request to a playback platform.

[0091] S402: The terminal receives, through the cellular communication and satellite communication modules, first positioning service data and second positioning service data corresponding to the terminal in the first positioning enhanced service edge area at the sampling moment, which are sent by the playback platform.

[0092] S403: The terminal performs a calculation on the first positioning service data through a positioning acquisition module to determine a first positioning result of the terminal.

[0093] S404: The terminal uses the first positioning result as prior data through a positioning acquisition module to perform a solution convergence process on the second positioning service data to obtain a second positioning result of the terminal.

[0094] S405: The terminal performs weighted smoothing processing on the first positioning result and the second positioning result through a positioning acquisition module according to a ground-based filter coefficient, a satellite-based filter coefficient and a linear smoothing coefficient to obtain a transitional positioning result at a sampling time.

[0095] S406: The terminal outputs the transitional positioning result in the positioning application.

[0096] In one embodiment, as shown in FIG5 , if the first positioning enhancement service is a satellite-based positioning enhancement service and the second positioning enhancement service is a ground-based positioning enhancement service, the transitional positioning result at the output sampling time may include the following contents:

[0097] S501: When it is necessary to switch from a first positioning enhancement service to a second positioning enhancement service, the terminal sends an information acquisition request to a playback platform.

[0098] S502: The terminal receives, through the cellular communication and satellite communication modules, first positioning service data and second positioning service data corresponding to the terminal in the first positioning enhanced service edge area at the sampling moment, which are sent by the playback platform.

[0099] S503: The terminal performs a calculation on the second positioning service data through a positioning acquisition module to determine a second positioning result of the terminal.

[0100] S504: The terminal uses the second positioning result as prior data through the positioning acquisition module to perform a solution convergence process on the first positioning service data to obtain a first positioning result of the terminal.

[0101] S505: The terminal performs weighted smoothing processing on the first positioning result and the second positioning result through a positioning acquisition module according to a ground-based filter coefficient, a satellite-based filter coefficient and a linear smoothing coefficient to obtain a transitional positioning result at a sampling time.

[0102] S506: The terminal outputs the transitional positioning result in the positioning application.

[0103] The above-mentioned positioning service switching method determines the transition positioning result corresponding to the sampling time by receiving the first positioning service data and the second positioning service data corresponding to the edge area of ​​the first positioning enhanced service of the terminal, and according to the first positioning service data and the second positioning service data, and then outputs the transition positioning result at the sampling time, so as to smoothly switch from the first positioning enhanced service to the second positioning enhanced service. According to the above content, it can be known that the present application determines the transition positioning result by the first positioning service data and the second positioning service data at the sampling time. Since the transition positioning result is jointly determined according to the first positioning service data and the second positioning service data, the transition positioning result output by the present application is neither the first positioning result determined according to the first positioning enhanced service nor the second positioning result determined according to the second positioning enhanced service, but a transition positioning result jointly determined by the two positioning enhanced services. Therefore, by outputting the transition positioning result, the switching process from the first positioning enhanced service to the second positioning enhanced service is realized, and the jumping of the positioning result is prevented, and the result deviation between the positioning results output by the terminal each time is reduced without increasing the additional user communication consumption and the terminal power consumption, so as to realize the smooth switching from the first positioning enhanced service to the second positioning enhanced service.

[0104] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0105] Based on the same inventive concept, the embodiment of the present application also provides a positioning service switching device for implementing the positioning service switching method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more positioning service switching device embodiments provided below can refer to the limitations of the positioning service switching method above, and will not be repeated here.

[0106] In one embodiment, as shown in FIG6 , a positioning service switching device is provided, comprising: a receiving module 10, a determining module 20 and an output module 30, wherein:

[0107] The receiving module 10 is used to receive the first positioning service data and the second positioning service data corresponding to the edge area of ​​the first positioning enhanced service of the terminal at the sampling moment when switching from the first positioning enhanced service to the second positioning enhanced service is required; wherein the terminal receives the first positioning service data and the second positioning service data through a cellular network.

[0108] The determination module 20 is used to determine the transitional positioning result corresponding to the sampling time according to the first positioning service data and the second positioning service data at the sampling time.

[0109] The output module 30 is used to output the transition positioning result at the sampling moment to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0110] In one embodiment, filter coefficients and preset linear smoothing coefficients are determined;

[0111] A transitional positioning result corresponding to a sampling moment is determined according to the first positioning service data, the second positioning service data, the filter coefficient and the linear smoothing coefficient.

[0112] In one embodiment, determining a first positioning result of the terminal according to the first positioning service data;

[0113] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, the second positioning service data and the first positioning result are weighted and smoothed to obtain a transitional positioning result at the sampling time.

[0114] In one embodiment, the first positioning result is used as prior data, and a solution convergence process is performed on the second positioning service data to obtain a second positioning result of the terminal;

[0115] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, the first positioning result and the second positioning result are subjected to weighted smoothing processing to obtain a transitional positioning result at the sampling time.

[0116] In one embodiment, determining a second positioning result of the terminal according to the second positioning service data;

[0117] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, weighted smoothing processing is performed on the first positioning service data and the second positioning result to obtain a transitional positioning result at the sampling moment.

[0118] In one embodiment, the second positioning result is used as a priori data, and a solution convergence process is performed on the first positioning service data to obtain a first positioning result of the terminal;

[0119] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, the first positioning result and the second positioning result are subjected to weighted smoothing processing to obtain a transitional positioning result at the sampling time.

[0120] The above-mentioned positioning service switching device determines the transition positioning result corresponding to the sampling time by receiving the first positioning service data and the second positioning service data corresponding to the edge area of ​​the first positioning enhanced service of the terminal, and according to the first positioning service data and the second positioning service data, and then outputs the transition positioning result at the sampling time, so as to smoothly switch from the first positioning enhanced service to the second positioning enhanced service. According to the above content, it can be known that the present application determines the transition positioning result by the first positioning service data and the second positioning service data at the sampling time. Since the transition positioning result is jointly determined according to the first positioning service data and the second positioning service data, the transition positioning result output by the present application is neither the first positioning result determined according to the first positioning enhanced service nor the second positioning result determined according to the second positioning enhanced service, but a transition positioning result jointly determined by the two positioning enhanced services. Therefore, by outputting the transition positioning result, the switching process from the first positioning enhanced service to the second positioning enhanced service is realized, and the jumping of the positioning result is prevented, and the result deviation between the positioning results output by the terminal each time is reduced without increasing the additional user communication consumption and the terminal power consumption, so as to realize the smooth switching from the first positioning enhanced service to the second positioning enhanced service.

[0121] Each module in the above-mentioned location service switching device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0122] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be shown in FIG7. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected via a system bus, and the communication interface, the display unit, and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner may be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for switching a positioning service is implemented. The display unit of the computer device is used to form a visually visible picture, which may be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0123] Those skilled in the art will understand that the structure shown in FIG. 7 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0124] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0125] In the case where it is necessary to switch from the first positioning enhanced service to the second positioning enhanced service, receiving the first positioning service data and the second positioning service data corresponding to the terminal in the edge area of ​​the first positioning enhanced service at the sampling time; wherein the terminal receives the first positioning service data and the second positioning service data through a cellular network;

[0126] Determine a transitional positioning result corresponding to the sampling time according to the first positioning service data and the second positioning service data at the sampling time;

[0127] Output the transition positioning result at the sampling moment to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0128] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0129] Determining filter coefficients and preset linear smoothing coefficients;

[0130] A transitional positioning result corresponding to a sampling moment is determined according to the first positioning service data, the second positioning service data, the filter coefficient and the linear smoothing coefficient.

[0131] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0132] Determining a first positioning result of the terminal according to the first positioning service data;

[0133] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, the second positioning service data and the first positioning result are weighted and smoothed to obtain a transitional positioning result at the sampling time.

[0134] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0135] The first positioning result is used as prior data, and a second positioning service data is solved and converged to obtain a second positioning result of the terminal;

[0136] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, the first positioning result and the second positioning result are subjected to weighted smoothing processing to obtain a transitional positioning result at the sampling time.

[0137] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0138] Determining a second positioning result of the terminal according to the second positioning service data;

[0139] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, weighted smoothing processing is performed on the first positioning service data and the second positioning result to obtain a transitional positioning result at the sampling moment.

[0140] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0141] The second positioning result is used as a priori data, and a solution convergence process is performed on the first positioning service data to obtain a first positioning result of the terminal;

[0142] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, the first positioning result and the second positioning result are subjected to weighted smoothing processing to obtain a transitional positioning result at the sampling time.

[0143] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0144] In the case where it is necessary to switch from the first positioning enhanced service to the second positioning enhanced service, receiving the first positioning service data and the second positioning service data corresponding to the terminal in the edge area of ​​the first positioning enhanced service at the sampling time; wherein the terminal receives the first positioning service data and the second positioning service data through a cellular network;

[0145] Determine a transitional positioning result corresponding to the sampling time according to the first positioning service data and the second positioning service data at the sampling time;

[0146] Output the transition positioning result at the sampling moment to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0147] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0148] Determining filter coefficients and preset linear smoothing coefficients;

[0149] A transitional positioning result corresponding to a sampling moment is determined according to the first positioning service data, the second positioning service data, the filter coefficient and the linear smoothing coefficient.

[0150] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0151] Determining a first positioning result of the terminal according to the first positioning service data;

[0152] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, the second positioning service data and the first positioning result are weighted and smoothed to obtain a transitional positioning result at the sampling time.

[0153] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0154] The first positioning result is used as prior data, and a second positioning service data is solved and converged to obtain a second positioning result of the terminal;

[0155] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, the first positioning result and the second positioning result are subjected to weighted smoothing processing to obtain a transitional positioning result at the sampling time.

[0156] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0157] Determining a second positioning result of the terminal according to the second positioning service data;

[0158] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, weighted smoothing processing is performed on the first positioning service data and the second positioning result to obtain a transitional positioning result at the sampling moment.

[0159] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0160] The second positioning result is used as a priori data, and a solution convergence process is performed on the first positioning service data to obtain a first positioning result of the terminal;

[0161] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, the first positioning result and the second positioning result are subjected to weighted smoothing processing to obtain a transitional positioning result at the sampling time.

[0162] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0163] In the case where it is necessary to switch from the first positioning enhanced service to the second positioning enhanced service, receiving the first positioning service data and the second positioning service data corresponding to the terminal in the edge area of ​​the first positioning enhanced service at the sampling time; wherein the terminal receives the first positioning service data and the second positioning service data through a cellular network;

[0164] Determine a transitional positioning result corresponding to the sampling time according to the first positioning service data and the second positioning service data at the sampling time;

[0165] Output the transition positioning result at the sampling moment to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0166] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0167] Determining filter coefficients and preset linear smoothing coefficients;

[0168] A transitional positioning result corresponding to a sampling moment is determined according to the first positioning service data, the second positioning service data, the filter coefficient and the linear smoothing coefficient.

[0169] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0170] Determining a first positioning result of the terminal according to the first positioning service data;

[0171] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, the second positioning service data and the first positioning result are weighted and smoothed to obtain a transitional positioning result at the sampling time.

[0172] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0173] The first positioning result is used as prior data, and a second positioning service data is solved and converged to obtain a second positioning result of the terminal;

[0174] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, the first positioning result and the second positioning result are subjected to weighted smoothing processing to obtain a transitional positioning result at the sampling time.

[0175] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0176] Determining a second positioning result of the terminal according to the second positioning service data;

[0177] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, weighted smoothing processing is performed on the first positioning service data and the second positioning result to obtain a transitional positioning result at the sampling moment.

[0178] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0179] The second positioning result is used as a priori data, and a solution convergence process is performed on the first positioning service data to obtain a first positioning result of the terminal;

[0180] According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, the first positioning result and the second positioning result are subjected to weighted smoothing processing to obtain a transitional positioning result at the sampling time.

[0181] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0182] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0183] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0184] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for switching a positioning service, characterized in that: Applied to a terminal, the method comprises: In the case where it is necessary to switch from the first positioning enhanced service to the second positioning enhanced service, receiving first positioning service data and second positioning service data corresponding to the terminal in the edge area of ​​the first positioning enhanced service at the sampling time; wherein the terminal receives the first positioning service data and the second positioning service data through a cellular network; Determine a transitional positioning result corresponding to the sampling moment according to the first positioning service data and the second positioning service data at the sampling moment; The transition positioning result at the sampling moment is output to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

2. The method according to claim 1, characterized in that The determining, according to the first positioning service data and the second positioning service data at the sampling time, a transition positioning result corresponding to the sampling time includes: Determining filter coefficients and preset linear smoothing coefficients; A transition positioning result corresponding to the sampling moment is determined according to the first positioning service data, the second positioning service data, the filter coefficient and the linear smoothing coefficient.

3. The method according to claim 2, characterized in that If the first positioning augmentation service is a ground-based positioning augmentation service, the second positioning augmentation service is a satellite-based positioning augmentation service, and the filter coefficient includes a ground-based filter coefficient and a satellite-based filter coefficient, then determining the transitional positioning result corresponding to the sampling time according to the first positioning service data, the second positioning service data, the filter coefficient and the linear smoothing coefficient includes: Determining a first positioning result of the terminal according to the first positioning service data; According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, weighted smoothing processing is performed on the second positioning service data and the first positioning result to obtain a transitional positioning result at the sampling time.

4. The method according to claim 3, characterized in that: The step of performing weighted smoothing processing on the second positioning service data and the first positioning result according to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient to obtain a transitional positioning result at the sampling time includes: Using the first positioning result as prior data, performing a solution convergence process on the second positioning service data to obtain a second positioning result of the terminal; According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, weighted smoothing processing is performed on the first positioning result and the second positioning result to obtain a transitional positioning result at the sampling time.

5. The method according to claim 2, characterized in that: If the first positioning augmentation service is a satellite-based positioning augmentation service, the second positioning augmentation service is a ground-based positioning augmentation service, and the filter coefficient includes a ground-based filter coefficient and a satellite-based filter coefficient, then determining the transitional positioning result corresponding to the sampling time according to the first positioning service data, the second positioning service data, the filter coefficient and the linear smoothing coefficient includes: Determining a second positioning result of the terminal according to the second positioning service data; According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, weighted smoothing processing is performed on the first positioning service data and the second positioning result to obtain a transitional positioning result at the sampling time.

6. The method according to claim 5, characterized in that The step of performing weighted smoothing processing on the first positioning service data and the second positioning result according to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient to obtain the transitional positioning result at the sampling time includes: Using the second positioning result as prior data, performing a solution convergence process on the first positioning service data to obtain a first positioning result of the terminal; According to the ground-based filter coefficient, the satellite-based filter coefficient and the linear smoothing coefficient, weighted smoothing processing is performed on the first positioning result and the second positioning result to obtain a transitional positioning result at the sampling time.

7. A positioning service switching device, characterized in that: Configured in a terminal, the device includes: A receiving module, configured to receive, when switching from the first positioning enhanced service to the second positioning enhanced service, first positioning service data and second positioning service data corresponding to the terminal in the edge area of ​​the first positioning enhanced service at a sampling time; wherein the terminal receives the first positioning service data and the second positioning service data through a cellular network; A determination module, configured to determine a transitional positioning result corresponding to the sampling moment according to the first positioning service data and the second positioning service data at the sampling moment; An output module is used to output the transition positioning result at the sampling moment to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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