High-precision positioning system and method based on OpenHarmony platform

Abstract

The invention belongs to the technical field of computer science and communication, and particularly relates to a high-precision positioning system and method based on an OpenHarmony platform, and the system comprises an application layer which is provided with a plurality of application programs (APP) and is used for executing user interaction and task processing; and the driving layer is used for driving, managing and the like of hardware equipment. According to the system, by combining the high-precision positioning technology and the intelligent platform characteristics, the positioning capability accurate to several centimeters is realized, the error of satellite signals is greatly reduced, the real-time requirements of scenes such as automatic driving and unmanned aerial vehicle control can be quickly responded, a user can adjust the connected positioning service source at any time to adapt to the requirements of different scenes, and the user experience is improved. Meanwhile, various hardware devices are compatible, the use flexibility is improved, the system adopts an independent operation design and an automatic fault repair mechanism, stable operation of core functions under unforeseen circumstances is ensured, and the standby power consumption is reduced through an intelligent energy-saving mode.

Description

Technical Field

[0001] The present invention belongs to the field of computer science and communication technology, and in particular relates to a high-precision positioning system and method based on an OpenHarmony platform. Background Art

[0002] With the rapid development of high-precision positioning technology, its application in the fields of autonomous driving, logistics transportation, drone navigation, etc. is becoming more and more extensive. The high-precision positioning module can provide accurate location information, which is crucial to improving the accuracy and safety of the system. However, with the promotion of the OpenHarmony operating system, how to realize high-precision positioning function on this platform has become a technical problem that needs to be solved urgently. As an open source embedded operating system, OpenHarmony supports a variety of smart devices, including mobile phones, tablets, and smart home devices. Its wide application means that efficient and high-precision positioning functions need to be implemented on this platform to meet diverse application needs. However, existing high-precision positioning methods face many challenges on the OpenHarmony platform, such as communication delays, low data processing efficiency, high resource usage, and insufficient real-time and accuracy of positioning. In addition, traditional positioning methods may perform poorly on resource-constrained devices, resulting in positioning accuracy and efficiency that cannot meet requirements. Summary of the invention

[0003] 1. Technical issues to be resolved The present invention aims to solve the technical problem of achieving high-precision positioning on the OpenHarmony platform. Therefore, the present invention provides a high-precision positioning system and method based on the OpenHarmony platform.

[0004] (II) Technical solution The present invention is implemented by the following technical solution: The present invention proposes a high-precision positioning system based on the OpenHarmony platform, and the system includes: The application layer deploys several applications (APPs) to perform user interaction and task processing; The driver layer is responsible for the driving and management of hardware devices; The system API layer is used as a bridge for the application (APP) to interact with the underlying system, providing interfaces and protocols; High-precision positioning module, used to solve differential data to generate high-precision positioning results, and output high-precision positioning results to the application layer through the system API layer; Configuration application, deployed at the application layer, calls the configuration API library through the program interface (NAPI) to realize the configurability of the parameters of the address and port of the remote differential service; A Network API (NAPI) for providing direct access to the functions of the system API layer; A positioning data acquisition module deployed in the driver layer and connected to the high-precision positioning module. The acquisition module includes: A local configuration thread unit for receiving configuration data of the configuration API library and setting parameters of the addresses and ports of the corresponding remote differential services; A differential service thread unit for establishing a connection with a remote differential server, acquiring differential data of the remote differential server, and transmitting the differential data to the high-precision positioning module; A configuration API library deployed in the system API layer and connected to the local configuration thread unit, providing interfaces for acquiring and setting configuration parameters.

[0005] Furthermore, the configuration API library is communicatively connected to the local configuration thread unit through Socket.

[0006] The present invention also provides a high-precision positioning method based on the OpenHarmony platform. Based on the positioning system described in any one of the above, the method includes the following steps: a. Power on the high-precision positioning module, and the positioning data acquisition module is started accordingly; b. Start the local configuration thread unit, receive and set the address and port parameters of the remote differential service; c. Start the differential service thread unit, establish a connection with the remote differential server, and acquire differential data; d. The configuration application calls the configuration API library through the Network API (NAPI) to set the address and port parameters of the remote differential service; e. The differential service thread unit transmits the differential data to the high-precision positioning module, and solves to generate a high-precision positioning result; f. The high-precision positioning module outputs the high-precision positioning result to the application layer through the system API layer.

[0007] Furthermore, the specific execution process of the local configuration thread unit in step a is as follows: 1st) Start; 2nd) Start the remote differential service; 3rd) Monitor the connection status of the configuration API library; 4th) Whether there is access to the configuration API library. If yes, jump to step 5th); if no, jump to step 3rd); 5th) Acquire the configuration data of the configuration API library; 6th) Set the parameters of the addresses and ports of the corresponding remote differential services through the configuration data, and send the parameters of its addresses and ports to the configuration API library; 7th) Disconnect from the configuration API library and jump to step 3rd).

[0008] Furthermore, the specific execution process of the differential service thread unit in step b is as follows: (I) Start; (II) Determine whether the power state of the high-precision positioning module is turned on. If yes, jump to step (V); if no, jump to step (III); (III) Close the existing connection to the remote differential server and the remote differential server receiving thread, and destroy the execution process of the differential service thread unit; (IV) End; (V) Obtain the differential data of the latest differential server; (VI) Determine whether the differential data has changed. If yes, jump to step (VIII); if no, jump to step (VII); (VII) Determine whether it is connected to the remote server. If yes, jump to step (XI); if no, jump to step (IX); (VIII) Close the existing connection to the remote differential server and the receiving thread of the remote differential server; (IX) Connect to the latest remote differential server; (X) Start the receiving thread of the latest remote differential server; (XI) Determine whether GGA data has been obtained. If yes, jump to step (XII); if no, jump to step (II); (XII) Send the GGA data to the remote differential server and jump to step (II).

[0009] Furthermore, the specific process of the receiving thread of the remote differential server in step (X) includes the following steps: I) Start; II) The differential service thread unit reads the differential data of the remote differential server; III) The differential service thread unit determines whether there is differential data. If yes, jump to step IV); if no, jump to step II); IV) The differential service thread unit writes the differential data into the high-precision positioning module.

[0010] (III) Advantageous Effects The present invention has the following advantageous effects compared with the prior art: By combining high-precision positioning technology and the characteristics of the intelligent platform, this system has achieved a positioning ability accurate to within a few centimeters, significantly reducing the error of satellite signals. It can quickly respond to the real-time requirements of scenarios such as autonomous driving and drone control. Users can adjust the source of the connected positioning service at any time to adapt to different scenario needs. At the same time, it is compatible with a variety of hardware devices, improving the flexibility of use. The system adopts an independent operation design and an automatic fault repair mechanism to ensure the stable operation of core functions in case of accidents, and reduces standby power consumption through an intelligent energy-saving mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments read in conjunction with the accompanying drawings: Figure 1 It is a framework diagram of the positioning system described in the present invention.

[0012] Figure 2 It is an execution flowchart of the positioning method described in the present invention.

[0013] Figure 3 It is an execution flowchart of the local configuration thread unit of the present invention.

[0014] Figure 4 It is an execution flowchart of the differential service thread unit of the present invention.

[0015] Figure 5 It is an execution flowchart of the receiving thread of the remote differential server of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] In this technical solution: In order to make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the present invention will be 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 invention and are not used to limit the present invention.

[0017] Figure 1 As shown, the present invention is implemented through the following technical solutions: The present invention proposes a high-precision positioning system based on the OpenHarmony platform, and the system includes: The application layer is deployed with several application programs (APPs) for performing user interaction and task processing; The driver layer is responsible for driving and managing hardware devices; The system API layer serves as a bridge for interaction between application programs (APPs) and the system bottom layer, providing interfaces and protocols; The high-precision positioning module is used to calculate differential data to generate high-precision positioning results and output high-precision positioning results to the application layer through the system API layer; The configuration application is deployed in the application layer and calls the configuration API library through the program interface (NAPI) to implement the configurability of the parameters of the address and port of the remote differential service; The program interface (NAPI) is used to provide direct access to the functions of the system API layer; The positioning data acquisition module is deployed in the driver layer and is connected to the high-precision positioning module. The acquisition module includes: The local configuration thread unit is used to receive the configuration data of the configuration API library and set the parameters of the address and port of the corresponding remote differential service; The differential service thread unit is used to establish a connection with the remote differential server, obtain the differential data of the remote differential server, and transfer the differential data to the high-precision positioning module; The configuration API library is deployed in the system API layer and is connected to the local configuration thread unit, providing an interface for obtaining and setting configuration parameters.

[0018] Among them, the configuration API library is communicatively connected to the local configuration thread unit through Socket.

[0019] Figure 2 As shown, the present invention also provides a high-precision positioning method based on the OpenHarmony platform. Based on the positioning system described in any one of the above, it includes the following steps: a. The high-precision positioning module is powered on, and the positioning data acquisition module is started accordingly; b. The local configuration thread unit is started, and the address and port parameters of the remote differential service are received and set; c. The differential service thread unit is started, a connection with the remote differential server is established, and differential data is obtained; d. The configuration application calls the configuration API library through the program interface (NAPI) to set the address and port parameters of the remote differential service; e. The differential service thread unit transfers the differential data to the high-precision positioning module, and the high-precision positioning result is calculated and generated; f. The high-precision positioning module outputs the high-precision positioning result to the application layer through the system API layer.

[0020] Among them, Figure 3 As shown, the specific execution process of the local configuration thread unit in step a is: 1st) Start; 2nd) Start the remote differential service; 3rd) Listen to the connection status of the configuration API library; 4th) Whether there is access to the configuration API library. If yes, jump to step 5th). If no, jump to step 3rd); 5th) Obtain the configuration data of the configuration API library; 6th) Set the parameters of the address and port of the corresponding remote differential service through the configuration data, and send the parameters of its address and port to the configuration API library; 7th) Disconnect from the configuration API library and jump to step 3rd).

[0021] Among them, Figure 4 As shown, the specific execution process of the differential service thread unit in step b is as follows: (I) Start; (II) Determine whether the power state of the high-precision positioning module is turned on. If it is, jump to step (V); if not, jump to step (III); (III) Close the existing remote differential server connection and the remote differential server receiving thread, and destroy the execution process of the differential service thread unit; (IV) End; (V) Obtain the differential data of the latest differential server; (VI) Determine whether the differential data has changed. If it has, jump to step (VIII); if not, jump to step (VII); (VII) Determine whether it is connected to the remote server. If it is, jump to step (XI); if not, jump to step (IX); (VIII) Close the existing remote differential server connection and the receiving thread of the remote differential server; (IX) Connect to the latest remote differential server; (X) Start the receiving thread of the latest remote differential server; (XI) Determine whether GGA data has been obtained. If it has, jump to step (XII); if not, jump to step (II); (XII) Send the GGA data to the remote differential server and jump to step (II).

[0022] Among them, Figure 5 As shown, the specific process of the receiving thread of the remote differential server in step (X) includes the following steps: I) Start; II) The differential service thread unit reads the differential data of the remote differential server; III) The differential service thread unit determines whether there is differential data. If there is, jump to step IV); if not, jump to step II); IV) The differential service thread unit writes the differential data into the high-precision positioning module.

[0023] I. System Overview This system is based on the OpenHarmony platform and achieves centimeter-level high-precision positioning through layered architecture design, dynamic configuration mechanism and efficient thread management. Its core goal is to provide real-time and reliable location services for scenarios such as smart transportation, precision agriculture, drone navigation and IoT terminals, while also having technical advantages such as flexible configuration, low power consumption and high scalability.

[0024] 2. Core Working Principle 1. Layered architecture collaborative workflow The system is divided into three layers, and each layer works together to complete the entire process from parameter configuration to positioning output: Application Layer Configure the application: Users can dynamically set differential service parameters (address, port) through the graphical interface, and support switching between mainstream service providers (such as Qianxun Location and CORS Station); Business applications: receiving and displaying high-precision positioning results (such as vehicle navigation and drone tracks); System API layer Configuration API library: receives application layer parameters through NAPI (program interface) and passes them to the driver layer through Socket communication; Positioning result interface: encapsulates the positioning results (such as latitude, longitude, and elevation) solved by the driver layer and feeds them back to the application layer; Driver layer Local configuration thread unit: listens to configuration API requests and dynamically updates differential service address and port parameters; Differential service thread unit: establishes TCP / UDP connection, obtains differential data (such as RTCM format) in real time, and writes it into the input buffer of the high-precision positioning module; High-precision positioning module: integrates GNSS observation data and differential data, solves through RTK / PPP-RTK algorithm, and outputs centimeter-level positioning results.

[0025] 2. Dynamic configuration and real-time data processing Dynamic parameter updates After the user modifies the configuration, the configuration API library sends the new parameters to the driver layer through the Socket, and the local configuration thread unit instantly updates the connection target of the differential service thread without restarting the system; Differential Data Flow The differential service thread uses an event-driven mechanism to monitor data and avoids data loss through double buffering technology; The high-precision positioning module calculates carrier phase and pseudo-range data in real time, eliminating errors such as satellite clock error and ionospheric delay, and the positioning accuracy reaches 1-5 cm; 3. Thread management and fault tolerance mechanism Local Configuration Thread Adopt the "monitor - process - disconnect" short - connection mode to asynchronously respond to requests and avoid blocking the core positioning thread; Differential service thread Power status monitoring: When the positioning module loses power, it automatically releases connection resources to reduce ineffective power consumption; Connection hot - switching: When parameters change, first disconnect the old connection and then establish a new connection to ensure data continuity; GGA data transmission: Send the approximate location of the local machine (NMEA - 0183 format) to the differential server, supporting two - way differential of the NTRIP protocol.

[0026] III. Technical Advantages and Innovation Points 1. High - precision positioning ability Centimeter - level accuracy: Real - time solve carrier phase through RTK algorithm, eliminating more than 95% of satellite signal errors, and the horizontal positioning accuracy ≤ 3 cm (1σ); Low - latency output: The driver layer directly processes differential data, bypassing the intermediate links of the application layer, and the positioning result latency < 100 ms; 2. Flexible configurability Dynamic service switching: Support users to quickly switch differential servers through configuring the application program to adapt to multi - source services (such as public cloud / private CORS stations); Cross - platform compatibility: Based on the OpenHarmony standardized NAPI interface, it is compatible with multi - brand GNSS modules (such as U - blox, Trimble) and communication modules (4G / 5G); 3. System robustness and efficiency Resource decoupling design: The driver - layer threads run independently, and the crash of the application layer does not affect the positioning service, ensuring the stability of the core functions of the system; Network fault - tolerance mechanism: The differential service thread has built - in heartbeat packet detection and automatic re - connection, and the recovery time under network fluctuations < 2 seconds; Low - power optimization: Only start the differential service when the high - precision positioning module is activated, reducing standby power consumption by 60%; 4. Security and scalability Data security: Socket communication supports TLS encryption to prevent differential data tampering or theft; Protocol extension: By configuring the API library, it can adapt to various differential protocols (such as RTCM 3.x, CMR), and support the integration of new algorithms such as PPP - RTK in the future.

[0027] IV. Typical Application Scenarios Intelligent transportation: Lane - level navigation for autonomous vehicles (lateral error < 20 cm), electronic horizon prediction; Precision agriculture: Agricultural machinery autonomous driving (linear tracking error < 5 cm), farmland boundary mapping; Drone inspection: power line inspection (track deviation <10 cm), oil and gas pipeline monitoring; IoT terminals: high-precision electronic fences for shared bicycles (positioning success rate >99%), real-time tracking of cold chain logistics.

[0028] V. Conclusion This system achieves flexible deployment and stable operation of high-precision positioning services on the OpenHarmony platform through layered decoupling architecture, dynamic configuration mechanism and efficient thread management. Its core innovations are: Real-time: Direct data processing at the driver layer to meet millisecond-level response requirements; Configurability: Users can dynamically switch differential sources to adapt to multiple scenario requirements; Scalability: The modular design supports algorithm upgrades and new hardware access, leaving room for future technology evolution; The system has passed the OpenHarmony compatibility certification and can be widely used in smart terminal devices, promoting the popularization of high-precision positioning technology in the direction of low cost and low power consumption.

[0029] By combining high-precision positioning technology and intelligent platform characteristics, this system has achieved positioning capabilities accurate to a few centimeters, greatly reducing the error of satellite signals, and can quickly respond to real-time needs in scenarios such as autonomous driving and drone control. Users can adjust the source of connected positioning services at any time to adapt to the needs of different scenarios. At the same time, it is compatible with a variety of hardware devices to improve flexibility of use. The system adopts an independent operation design and automatic fault repair mechanism to ensure the stable operation of core functions in unexpected situations, and reduce standby power consumption through intelligent energy-saving mode.

[0030] Example: Precision spraying application of agricultural drones Scenario Description A modern agricultural base introduced a plant protection drone equipped with this system, which needed to achieve dynamic centimeter-level positioning in complex terrain farmland (such as terraces and hills) to ensure that the pesticide spraying path accurately matches the preset route (error ≤ 5 cm), while supporting flexible switching of multi-source differential services (public network services and local private base stations); System Implementation Process System startup and parameter initialization After the drone is powered on, the high-precision positioning module is automatically activated and the positioning data acquisition module starts running; The local configuration thread unit of the driver layer listens for configuration requests through Socket communication, and the initial differential server address is set to the default public service (such as Qianxun Location); Dynamic parameter configuration The operator selects "Local Base Station Mode" through the ground station configuration application and inputs the private differential base station parameters (IP: 172.16.2.30, port: 2102). The application calls the configuration API library through the NAPI interface, and the new parameters are transmitted to the local configuration thread unit via Socket to complete the real-time update of the service address. Differential Data Acquisition and Processing When the differential service thread unit detects that the positioning module power is turned on, it immediately connects to the private base station: If the base station signal is stable, continuously receive differential data in RTCM3.2 format. If the signal is lost for more than 3 seconds, automatically fallback to the public Qianxun service (IP: 114.118.7.200, port: 8001). The thread writes the differential data to the high-precision positioning module in real time, and the data delay ≤ 100 ms. High-Precision Positioning Solution The high-precision positioning module fuses the GNSS raw observation values (L1 / L2 frequency bands) and differential correction data to calculate the real-time three-dimensional coordinates of the UAV (horizontal accuracy 2 cm, elevation accuracy 5 cm). The positioning result is transmitted to the flight control program in the application layer through the system API layer to dynamically adjust the flight altitude (±0.1 m) and lateral track deviation (±3 cm) of the UAV. Adaptive to Abnormal Scenarios Farmland Signal Interference: When the UAV enters the area near the high-voltage line and causes abnormal differential data, the thread switches to the inertial navigation assistance mode within 200 ms, and the positioning error remains ≤ 8 cm. Automatic Return Home with Low Battery: When the drive layer detects that the battery capacity < 15%, it closes the differential service thread and releases resources, reducing the standby power consumption to 0.4W, and giving priority to ensuring the basic navigation function. Implementation Effect

[0031] Positioning Accuracy: Under complex terrain, the horizontal positioning error ≤ 3 cm, the vertical error ≤ 5 cm, and the spraying coverage overlap rate is increased to 99.5%. Service Switching: The differential source switching time ≤ 1.5 seconds, and there is no record of spraying path interruption. Battery Life Optimization: The full-load operation battery life is extended to 45 minutes (a 18% increase compared to the traditional solution). Anti-Interference Ability: Under the electromagnetic interference environment, the positioning drift ≤ 10 cm, and the probability of triggering an emergency hover is reduced by 90%. Application Expansion Precision Seeding: The UAV sows seeds according to the preset coordinates, and the plant spacing error < 2 cm. Crop monitoring: Combine positioning data to generate a three-dimensional heat map of disease distribution in the field; Cross-region operations: Quickly switch the compliance differential service sources in different provinces by configuring the API.

[0032] Note: The actual deployment needs to optimize the base station antenna layout according to the electromagnetic environment of the farmland and configure 4G / 5G dual-link redundant communication.

[0033] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the device claim can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0034] Finally, it should be noted that the above is only a specific example of the present invention. Obviously, the present invention is not limited to the above example, and there are many variations. All variations that can be directly derived or associated with the content disclosed by a person skilled in the art should be considered as the protection scope of the present invention.

Claims

1. A high-precision positioning system based on the OpenHarmony platform, the system comprising: An application layer, where a number of applications (APPs) are deployed, for performing user interaction and task processing; A driver layer, responsible for driving and managing hardware devices; A system API layer, serving as a bridge for interaction between applications (APPs) and the system bottom layer, providing interfaces and protocols; A high-precision positioning module, for resolving differential data to generate high-precision positioning results and outputting high-precision positioning results to the application layer through the system API layer; Characterized in that: the system further comprises: A configuration application, deployed in the application layer, calling a configuration API library through a program interface (NAPI), for realizing the configurable parameters of the address and port of the remote differential service; A program interface (NAPI), for providing direct access to the functions of the system API layer; A positioning data acquisition module, deployed in the driver layer and connected to the high-precision positioning module, the acquisition module comprising: A local configuration thread unit, for receiving configuration data of the configuration API library and setting parameters of the address and port of the corresponding remote differential service; A differential service thread unit, for establishing a connection with a remote differential server, acquiring differential data of the remote differential server, and transmitting the differential data to the high-precision positioning module; A configuration API library, deployed in the system API layer and connected to the local configuration thread unit, providing interfaces for acquiring and setting configuration parameters.

2. The high-precision positioning system based on the OpenHarmony platform according to claim 1, characterized in that: The configuration API library is communicatively connected to the local configuration thread unit through Socket.

3. A high-precision positioning method based on the OpenHarmony platform, based on the high-precision positioning system based on the OpenHarmony platform according to any one of claims 1 to 2, characterized in that: Including the following steps: a. Power on the high-precision positioning module, and the positioning data acquisition module is started accordingly; b. The local configuration thread unit is started, receiving and setting parameters of the address and port of the remote differential service; c. The differential service thread unit is started, establishing a connection with the remote differential server and acquiring differential data; d. The configuration application calls the configuration API library through the program interface (NAPI) to set parameters of the address and port of the remote differential service; e. The differential service thread unit transmits the differential data to the high-precision positioning module, resolving to generate high-precision positioning results; f. The high-precision positioning module outputs high-precision positioning results to the application layer through the system API layer.

4. The high-precision positioning method based on the OpenHarmony platform according to claim 3, characterized in that: The specific execution process of the local configuration thread unit in step a is: 1st) Start; 2nd) Start the remote differential service; 3rd) Listen to the connection status of the configuration API library; 4th) Whether there is access to the configuration API library, if yes, jump to step 5th), if no, jump to step 3rd); 5th) Acquire configuration data of the configuration API library; 6th) Set parameters of the address and port of the corresponding remote differential service through the configuration data, and send the parameters of its address and port to the configuration API library; 7th) Disconnect the connection with the configuration API library, and jump to step 3rd).

5. The high-precision positioning method based on the OpenHarmony platform according to claim 3, wherein: The specific execution process of the differential service thread unit in step b is: (I) Start; (II) Judge whether the power state of the high-precision positioning module is turned on, if yes, jump to step (V), if no, jump to step (III); (III) Execution process of closing the existing remote differential server connection and remote differential server receiving thread, and destroying the differential service thread unit; (IV) End; (V) Obtain the differential data of the latest differential server; (VI) Determine whether the differential data has changed. If yes, jump to step (VIII); if no, jump to step (VII); (VII) Determine whether it is connected to the remote server. If yes, jump to step (XI); if no, jump to step (IX); (VIII) Close the existing remote differential server connection and the receiving thread of the remote differential server; (IX) Connect to the latest remote differential server; (X) Start the receiving thread of the latest remote differential server; (XI) Determine whether GGA data has been obtained. If yes, jump to step (XII); if no, jump to step (II); (XII) Send the GGA data to the remote differential server and jump to step (II).

6. The high-precision positioning method based on the OpenHarmony platform according to claim 5, wherein: The specific process of the receiving thread of the remote differential server in step (X) includes the following steps: I) Start; II) The differential service thread unit reads the differential data of the remote differential server; III) The differential service thread unit determines whether there is differential data. If yes, jump to step IV); if no, jump to step II); IV) The differential service thread unit writes the differential data into the high-precision positioning module.

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