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

Abstract

The present application relates to the technical field of positioning, and in particular to a positioning service switching method and apparatus, a computer device, and a storage medium. The method comprises: when it is necessary to switch from a first positioning enhancement service to a second positioning enhancement service, receiving first positioning service data and second positioning service data both corresponding to a terminal in an edge area of the first positioning enhancement service at a sampling moment (S201); on the basis of the first positioning service data and the second positioning service data, determining a transition positioning result corresponding to the sampling moment (S202); and outputting the transition positioning result corresponding to the sampling moment, so as to smoothly switch from the first positioning enhancement service to the second positioning enhancement service (S203).

Description

Location service switching methods, devices, computer equipment, and storage media

[0001] Related applications

[0002] This application claims priority to Chinese patent application filed on September 2, 2024, application number 2024112220129, entitled "Location Service Switching Method, Apparatus, Computer Equipment and Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of positioning technology, and in particular to a method, apparatus, computer device, and storage medium for switching positioning services. Background Technology

[0004] Currently, applications such as drones and agricultural / forestry plant protection may require integrated space-ground positioning services because single ground-based or satellite-based positioning enhancement services may not meet business needs. Ground-based positioning enhancement services typically utilize cellular networks to broadcast RTK (Real-Time Kinematic) corrections, correcting GNSS (Global Navigation Satellite System) positioning errors and improving positioning accuracy. Satellite-based positioning enhancement services, on the other hand, usually refer to broadcasting PPP (Precise Point Positioning) or PPP-RTK (a real-time high-precision positioning technology combining PPP and RTK) corrections via satellites (specifically communication satellites, not GNSS satellites) or cellular networks to improve positioning accuracy.

[0005] However, in traditional technologies, when a terminal switches between ground-based and satellite-based positioning augmentation services, it is prone to significant deviations in positioning results. Summary of the Invention

[0006] Based on this, this application provides a location service switching method, apparatus, computer device, and storage medium.

[0007] Firstly, this application provides a method for switching location services. The method includes:

[0008] In the case where it is necessary to switch from the first location enhancement service to the second location enhancement service, the first location service data and the second location service data corresponding to the edge area of ​​the first location enhancement service at the sampling time are received;

[0009] Based on the first positioning service data and the second positioning service data, determine the transitional positioning result corresponding to the sampling time;

[0010] Output the transitional positioning result corresponding to the sampling time to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0011] In one embodiment, determining the transitional positioning result corresponding to the sampling time based on the first positioning service data and the second positioning service data includes:

[0012] Determine the filter coefficients and the preset linear smoothing coefficients;

[0013] Based on the first positioning service data, the second positioning service data, the filter coefficients, and the linear smoothing coefficients, the transition positioning result corresponding to the sampling time is determined.

[0014] In one embodiment, 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 coefficients include ground-based filter coefficients and satellite-based filter coefficients, then determining the transitional positioning result corresponding to the sampling time based on the first positioning service data, the second positioning service data, the filter coefficients, and the linear smoothing coefficient includes:

[0015] Based on the first location service data, the first location result of the terminal is determined;

[0016] Based on the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficients, the second positioning service data and the first positioning result are subjected to weighted smoothing processing to obtain the transitional positioning result corresponding to the sampling time.

[0017] In one embodiment, the step of performing weighted smoothing processing on the second positioning service data and the first positioning result based on the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficients to obtain the transitional positioning result corresponding to the sampling time includes:

[0018] Using the first positioning result as prior data, the second positioning service data is processed to achieve convergence, thereby obtaining the second positioning result of the terminal.

[0019] Based on the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficients, the first positioning result and the second positioning result are weighted and smoothed to obtain the transitional positioning result corresponding to the sampling time.

[0020] In one embodiment, 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, and the filter coefficients include ground-based filter coefficients and satellite-based filter coefficients, then determining the transitional positioning result corresponding to the sampling time based on the first positioning service data, the second positioning service data, the filter coefficients, and the linear smoothing coefficient includes:

[0021] Based on the second location service data, the second location result of the terminal is determined;

[0022] Based on the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficients, the first positioning service data and the second positioning result are subjected to weighted smoothing processing to obtain the transitional positioning result corresponding to the sampling time.

[0023] In one embodiment, the step of performing weighted smoothing processing on the first positioning service data and the second positioning result based on the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficients to obtain the transitional positioning result corresponding to the sampling time includes:

[0024] Using the second positioning result as prior data, the first positioning service data is processed to achieve convergence, thereby obtaining the first positioning result of the terminal.

[0025] Based on the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficients, the first positioning result and the second positioning result are weighted and smoothed to obtain the transitional positioning result corresponding to the sampling time.

[0026] In one embodiment, the terminal receives the first location service data and the second location service data via a cellular network.

[0027] In one embodiment, the method further includes:

[0028] Obtain the edge region that needs to switch from the first location enhancement service to the second location enhancement service, and use the edge region as a network edge grid.

[0029] If the coverage area of ​​the first location enhancement service moves to the network edge grid, it is determined that a switch from the first location enhancement service to the second location enhancement service is required.

[0030] In one embodiment, when a switch from a first location enhancement service to a second location enhancement service is required, receiving the first location service data and the second location service data corresponding to the edge region of the first location enhancement service at the sampling time includes:

[0031] When it is necessary to switch from the first location enhancement service to the second location enhancement service, an information acquisition request is sent to the broadcasting platform; the information acquisition request includes a timestamp corresponding to the sampling time, and the information acquisition request is used to instruct the broadcasting platform to send the first location service data and the second location service data to the terminal;

[0032] Receive the first location service data and the second location service data.

[0033] In one embodiment, determining the first location result of the terminal based on the first location service data includes:

[0034] The first location service data is processed to determine the first location result.

[0035] In one embodiment, determining the second location result of the terminal based on the second location service data includes:

[0036] The second location service data is processed to determine the second location result.

[0037] Secondly, this application also provides a location service switching device. The device includes:

[0038] The receiving module is configured to receive, at the sampling time, the first positioning service data and the second positioning service data corresponding to the edge area of ​​the first positioning enhancement service of the terminal at the sampling time when it is necessary to switch from the first positioning enhancement service to the second positioning enhancement service;

[0039] The determining module is used to determine the transitional positioning result corresponding to the sampling time based on the first positioning service data and the second positioning service data;

[0040] The output module is used to output the transitional positioning result corresponding to the sampling time, so as to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0041] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0042] In the case where it is necessary to switch from the first location enhancement service to the second location enhancement service, the first location service data and the second location service data corresponding to the edge area of ​​the first location enhancement service at the sampling time are received;

[0043] Based on the first positioning service data and the second positioning service data, determine the transitional positioning result corresponding to the sampling time;

[0044] Output the transitional positioning result corresponding to the sampling time to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0045] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0046] In the case where it is necessary to switch from the first location enhancement service to the second location enhancement service, the first location service data and the second location service data corresponding to the edge area of ​​the first location enhancement service at the sampling time are received;

[0047] Based on the first positioning service data and the second positioning service data, determine the transitional positioning result corresponding to the sampling time;

[0048] Output the transitional positioning result corresponding to the sampling time to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0049] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0050] In the case where it is necessary to switch from the first location enhancement service to the second location enhancement service, the first location service data and the second location service data corresponding to the edge area of ​​the first location enhancement service at the sampling time are received;

[0051] Based on the first positioning service data and the second positioning service data, determine the transitional positioning result corresponding to the sampling time;

[0052] Output the transitional positioning result corresponding to the sampling time to smoothly switch from the first positioning enhancement service to the second positioning enhancement service. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the disclosed drawings without creative effort.

[0054] Figure 1 is an application environment diagram of a location service switching method proposed in an embodiment of this application;

[0055] Figure 2 is a flowchart illustrating the first location service switching method proposed in this application embodiment;

[0056] Figure 3 is a flowchart illustrating the second location service switching method proposed in an embodiment of this application;

[0057] Figure 4 is a signaling diagram of the first location service switching method proposed in the embodiments of this application;

[0058] Figure 5 is a signaling diagram of the second location service switching method proposed in the embodiments of this application;

[0059] Figure 6 is a structural block diagram of a location service switching device according to an embodiment of this application;

[0060] Figure 7 is an internal structure diagram of a computer device in one embodiment. Detailed Implementation

[0061] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0062] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application. In the description of this application, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0063] Traditional technologies primarily rely on factors such as cellular signal strength or the reliability of ground-based data when switching between ground-based and satellite-based positioning augmentation services. They do not consider the inconsistencies in positioning results caused by differences between ground-based and satellite-based corrections. This leads to significant deviations in positioning results when the terminal switches between these services.

[0064] The location service switching method provided in this application embodiment can be applied to the application environment shown in Figure 1. The terminal 102 communicates with the server 104 via a network. A 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 placed on the cloud or other network servers. By receiving first and second location service data corresponding to the edge area of ​​the first location enhancement service from the terminal, and determining the transitional positioning result corresponding to the sampling time based on the first and second location service data, the transitional positioning result corresponding to the sampling time is output to smoothly switch from the first location enhancement service to the second location enhancement service. The terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can be smart speakers, smart TVs, smart air conditioners, smart vehicle devices, etc. Portable wearable devices can be smartwatches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented using a standalone server or a server cluster composed of multiple servers.

[0065] In one embodiment, as shown in Figure 2, a location service switching method is provided. Taking the application of this method to terminal 102 in Figure 1 as an example, the method includes the following steps:

[0066] S201, when it is necessary to switch from the first positioning enhancement service to the second positioning enhancement service, receive the first positioning service data and the second positioning service data corresponding to the edge area of ​​the first positioning enhancement service at the sampling time.

[0067] It should be noted that when it is necessary to determine whether the terminal needs to switch from the first location enhancement service to the second location enhancement service at the current moment, the edge area that needs to switch from the first location enhancement service to the second location enhancement service can be obtained, and then this edge area can be used as the network edge grid. Therefore, when determining whether the terminal needs to switch from the first location enhancement service to the second location enhancement service at the current moment, it can be verified whether the terminal has entered the network edge grid. If the terminal moves from the coverage area of ​​the first location enhancement service to the network edge grid, it is determined that the terminal needs to switch from the first location enhancement service to the second location enhancement service.

[0068] In one embodiment of this application, when it is necessary to receive the first and second positioning service data corresponding to the edge area of ​​the first positioning enhancement service at the sampling time, an information acquisition request can be sent to the broadcasting platform. The information acquisition request carries a timestamp corresponding to the sampling time and is used to instruct the broadcasting platform to send the first and second positioning service data corresponding to the edge area of ​​the first positioning enhancement service at the sampling time to the terminal. The broadcasting platform can be a unified platform, meaning all services, content, or services are broadcast through a centrally managed platform, or it can include separate satellite-based and ground-based platforms.

[0069] The terminal receives first location service data and second location service data through a cellular network.

[0070] In one embodiment of this application, when the terminal moves to the network edge grid, a dual receiving mode is triggered to receive first location service data and second location service data through cellular network transmission or other means, and then subsequent processes are executed based on the first location service data and second location service data.

[0071] As an example, during the process of a terminal gradually moving from a cellular network coverage area to a satellite broadcasting area without cellular network coverage, the terminal receives first location service data and second location service data through the cellular network within the network edge grid, so as to achieve a smooth switch from the first location enhancement service to the second location enhancement service through the first location service data and the second location service data.

[0072] As another example, during 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 location service data and second location service data through the cellular network within the network edge grid, so as to achieve a smooth switch from the first location enhancement service to the second location enhancement service through the first location service data and the second location service data.

[0073] S202, Based on the first positioning service data and the second positioning service data, determine the transitional positioning result corresponding to the sampling time.

[0074] It should be noted that, in order to achieve a smooth transition from the first location enhancement service to the second location enhancement service, the transition location result needs to be determined by combining the data from the first location service and the data from the second location service.

[0075] In one embodiment of this application, when it is necessary to determine the transitional positioning result corresponding to the sampling time, the data ratio of the first positioning service data and the second positioning service data used when determining the transitional positioning result corresponding to the sampling time can be determined respectively; then, the data fusion of the first positioning service data and the second positioning service data can be realized according to the data ratio, and then the transitional positioning result corresponding to the sampling time can be determined by the fused first positioning service data and the second positioning service data.

[0076] To further explain, 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 separately. Then, based on the first positioning result and the second positioning result, the transitional positioning result corresponding to the sampling time can be determined.

[0077] In one embodiment of this application, when it is necessary to determine the transitional positioning result corresponding to the sampling time, the line connecting the first positioning result and the second positioning result can also be determined, and the midpoint of the line connecting the first positioning result and the second positioning result can be used as the transitional positioning result corresponding to the sampling time.

[0078] S203, output the transitional positioning result corresponding to the sampling time, so as to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0079] In one embodiment of this application, after the terminal outputs the transitional positioning result corresponding to the sampling time, and after 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 augmentation positioning service and the second positioning enhancement service is a satellite-based augmentation positioning service, then the terminal can stop receiving the first positioning service data corresponding to the ground-based augmentation positioning service, and only receive the second positioning service data corresponding to the satellite-based augmentation positioning service. In the subsequent positioning process, the terminal's location is determined only based on the second positioning service data corresponding to the satellite-based augmentation positioning service.

[0080] In another embodiment of this application, after the terminal outputs the transitional positioning result corresponding to the sampling time, and after 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 augmentation positioning service and the second positioning enhancement service is a ground-based augmentation positioning service, then the terminal can stop receiving the second positioning service data and only receive the first positioning service data. In the subsequent positioning process, the terminal position is determined only based on the first positioning service data corresponding to the ground-based augmentation positioning service.

[0081] The aforementioned location service switching method receives first and second location service data corresponding to the edge area of ​​the first location enhancement service from the terminal, determines the transitional positioning result corresponding to the sampling time based on the first and second location service data, and then outputs the transitional positioning result corresponding to the sampling time to smoothly switch from the first location enhancement service to the second location enhancement service. As can be seen from the above, this application determines the transitional positioning result using the first and second location service data at the sampling time. Since the transitional positioning result is determined jointly by the first and second location service data, the transitional positioning result output by this application is neither the first positioning result determined by the first location enhancement service nor the second positioning result determined by the second location enhancement service, but rather a transitional positioning result jointly determined by both location enhancement services. Therefore, by outputting the transitional positioning result, it prevents abrupt changes in positioning results during the switching process from the first location enhancement service to the second location enhancement service, and reduces the result deviation between each output positioning result without increasing additional user communication consumption and terminal power consumption, thus achieving a smooth switching from the first location enhancement service to the second location enhancement service.

[0082] In one embodiment, as shown in FIG3, when it is necessary to determine the transitional positioning result corresponding to the sampling time based on the first positioning service data and the second positioning service data, the following may be included:

[0083] S301, determine the filter coefficients and the preset linear smoothing coefficients.

[0084] It should be noted that the linear smoothing coefficient and filter coefficient can be determined in advance through simulation experiments. The range of values ​​for the linear smoothing coefficient and filter coefficient is not limited here. Furthermore, the linear smoothing coefficient and filter coefficient can be set or adjusted based on the historical experience of the operation and maintenance personnel and the actual situation of terminal positioning.

[0085] The filter coefficients include ground-based filter coefficients and satellite-based filter coefficients.

[0086] S302, based on the first positioning service data, the second positioning service data, the filter coefficients, and the linear smoothing coefficients, determine the transition positioning result corresponding to the sampling time.

[0087] It should be noted that when it is necessary to determine the transitional positioning result corresponding to the sampling time, different methods can be adopted according to different terminal conditions to realize the process of determining the transitional positioning result corresponding to the sampling time based on the first positioning service data, the second positioning service data, the filter coefficients, and the linear smoothing coefficients.

[0088] In one embodiment of this 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 coefficients include ground-based filter coefficients and satellite-based filter coefficients, then determining the transitional positioning result corresponding to the sampling time based on the first positioning service data, the second positioning service data, the filter coefficients, and the linear smoothing coefficients may include the following: determining the first positioning result of the terminal based on the first positioning service data; and performing weighted smoothing processing on the second positioning service data and the first positioning result based on the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficients to obtain the transitional positioning result corresponding to the sampling time.

[0089] Specifically, after the terminal smoothly switches from the first location enhancement service to the second location enhancement service, the notification broadcasting platform can switch from playing the first location service to playing the second location service, and disconnect the connection to the cellular network side.

[0090] Furthermore, when performing weighted smoothing processing on the second positioning service data and the first positioning result based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients, the following may be included: using the first positioning result as prior data to perform convergence processing on the second positioning service data to obtain the second positioning result of the terminal; and performing weighted smoothing processing on the first positioning result and the second positioning result based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients to obtain the transitional positioning result corresponding to the sampling time.

[0091] Specifically, the transitional positioning result corresponding to the sampling time can be obtained by substituting the ground-based filter coefficients, satellite-based filter coefficients, linear smoothing coefficients, first positioning result, and second positioning result into the weighted smoothing formula.

[0092] The weighted smoothing formula is shown below:

[0093] Where, x sb This is the second localization result, x gb y is the first positioning result, and y is the final output positioning result during the handover process. h1 is the satellite-based filter coefficient, h2 is the ground-based filter coefficient, a is the linear smoothing coefficient, i represents the i-th data point, N is the filter length, i.e., the number of delayed samples, j is an integer from 0 to N-1, and h is the data including N points.

[0094] In another embodiment of this 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, and the filter coefficients include ground-based filter coefficients and satellite-based filter coefficients; then, determining the transitional positioning result corresponding to the sampling time based on the first positioning service data, the second positioning service data, the filter coefficients, and the linear smoothing coefficients may include the following: determining the second positioning result of the terminal based on the second positioning service data; and performing weighted smoothing processing on the first positioning service data and the second positioning result based on the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficients to obtain the transitional positioning result corresponding to the sampling time.

[0095] Specifically, after the terminal receives the first and second positioning service data corresponding to the sampling time, the satellite service is disconnected.

[0096] Furthermore, when performing weighted smoothing processing on the first positioning service data and the second positioning result based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients, the following may be included: using the second positioning result as prior data to perform convergence processing on the first positioning service data to obtain the first positioning result of the terminal; and performing weighted smoothing processing on the first positioning result and the second positioning result based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients to obtain the transitional positioning result corresponding to the sampling time.

[0097] Specifically, the transitional positioning result corresponding to the sampling time can be obtained by substituting the ground-based filter coefficients, satellite-based filter coefficients, linear smoothing coefficients, first positioning result, and second positioning result into the weighted smoothing formula.

[0098] The weighted smoothing formula is shown below:

[0099] Where, x sb This is the second localization result, x gb y is the first positioning result, and y is the final output positioning result during the handover process. h1 is the satellite-based filter coefficient, h2 is the ground-based filter coefficient, a is the linear smoothing coefficient, i represents the i-th data point, N is the filter length, i.e., the number of delayed samples, j is an integer from 0 to N-1, and h is the data including N points.

[0100] The aforementioned location service switching method determines the ground-based filter coefficients, satellite-based filter coefficients, and a preset linear smoothing coefficient. Then, based on the first location service data, the second location service data, the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficient, it determines the transitional location result corresponding to the sampling time. Since the transitional location result output by this application is neither the first location result determined based on the first location enhancement service nor the second location result determined based on the second location enhancement service, but rather a transitional location result jointly determined by fusing the two location services, the output of the transitional location result prevents the location result from jumping during the switching process from the first location enhancement service to the second location enhancement service.

[0101] In one embodiment, as shown in Figure 4, 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, the transitional positioning result corresponding to the sampling time can include the following:

[0102] S401, when it is necessary to switch from the first location enhancement service to the second location enhancement service, the terminal sends an information acquisition request to the broadcasting platform.

[0103] S402, the terminal receives the first and second positioning service data corresponding to the first positioning enhancement service edge area at the sampling time, sent by the broadcasting platform through the cellular communication and satellite communication modules.

[0104] S403, the terminal processes the first positioning service data through the positioning acquisition module to determine the terminal's first positioning result.

[0105] S404, the terminal uses the first positioning result as prior data through the positioning acquisition module to perform convergence processing on the second positioning service data to obtain the second positioning result of the terminal.

[0106] S405, the terminal, through the positioning acquisition module, performs weighted smoothing processing on the first positioning result 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 corresponding to the sampling time.

[0107] S406, the terminal outputs the transitional location result in the location application.

[0108] 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 corresponding to the sampling time can include the following:

[0109] S501, when it is necessary to switch from the first location enhancement service to the second location enhancement service, the terminal sends an information acquisition request to the broadcasting platform.

[0110] S502, the terminal receives the first and second positioning service data corresponding to the first positioning enhancement service edge area at the sampling time, sent by the broadcasting platform through the cellular communication and satellite communication modules.

[0111] S503, the terminal performs calculations on the second positioning service data through the positioning acquisition module to determine the terminal's second positioning result.

[0112] S504, the terminal uses the second positioning result as prior data through the positioning acquisition module to perform convergence processing on the first positioning service data to obtain the terminal's first positioning result.

[0113] S505, the terminal uses the positioning acquisition module to perform weighted smoothing processing on the first positioning result 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 transition positioning result corresponding to the sampling time.

[0114] S506, the terminal outputs the transitional location result in the location application.

[0115] The aforementioned location service switching method receives first and second location service data corresponding to the edge area of ​​the first location enhancement service from the terminal, determines the transitional positioning result corresponding to the sampling time based on the first and second location service data, and then outputs the transitional positioning result corresponding to the sampling time to smoothly switch from the first location enhancement service to the second location enhancement service. As can be seen from the above, this application determines the transitional positioning result using the first and second location service data at the sampling time. Since the transitional positioning result is determined jointly by the first and second location service data, the transitional positioning result output by this application is neither the first positioning result determined by the first location enhancement service nor the second positioning result determined by the second location enhancement service, but rather a transitional positioning result jointly determined by both location enhancement services. Therefore, by outputting the transitional positioning result, it prevents abrupt changes in positioning results during the switching process from the first location enhancement service to the second location enhancement service, and reduces the result deviation between each output positioning result without increasing additional user communication consumption and terminal power consumption, thus achieving a smooth switching from the first location enhancement service to the second location enhancement service.

[0116] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0117] Based on the same inventive concept, this application also provides a location service switching device for implementing the location service switching method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more location service switching device embodiments provided below can be found in the limitations of the location service switching method described above, and will not be repeated here.

[0118] In one embodiment, as shown in FIG6, a location service switching device is provided, including: a receiving module 10, a determining module 20, and an output module 30, wherein:

[0119] The receiving module 10 is used to receive, at the sampling time, the first positioning service data and the second positioning service data corresponding to the edge area of ​​the first positioning enhancement service of the terminal. When it is necessary to switch from the first positioning enhancement service to the second positioning enhancement service, 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 enhancement service of the terminal at the sampling time.

[0120] The determination module 20 is used to determine the transitional positioning result corresponding to the sampling time based on the first positioning service data and the second positioning service data.

[0121] The output module 30 is used to output the transitional positioning results corresponding to the sampling time, so as to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0122] In one embodiment, the determining module 20 is further configured to determine filter coefficients and preset linear smoothing coefficients; and to determine the transitional positioning result corresponding to the sampling time based on the first positioning service data, the second positioning service data, the filter coefficients, and the linear smoothing coefficients.

[0123] In one embodiment, 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 coefficients include ground-based filter coefficients and satellite-based filter coefficients, then the determining module 20 is further configured to determine the first positioning result of the terminal based on the first positioning service data; and to perform weighted smoothing processing on the second positioning service data and the first positioning result based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients to obtain the transitional positioning result corresponding to the sampling time.

[0124] In one embodiment, the determining module 20 is further configured to use the first positioning result as prior data to perform convergence processing on the second positioning service data to obtain the second positioning result of the terminal; and to perform 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 to obtain the transitional positioning result corresponding to the sampling time.

[0125] In one embodiment, 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, and the filter coefficients include ground-based filter coefficients and satellite-based filter coefficients, then the determining module 20 is further configured to determine the second positioning result of the terminal based on the second positioning service data; and to perform weighted smoothing processing on the first positioning service data and the second positioning result based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients to obtain the transitional positioning result corresponding to the sampling time.

[0126] In one embodiment, the determining module 20 is further configured to use the second positioning result as prior data to perform convergence processing on the first positioning service data to obtain the first positioning result of the terminal; and to perform 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 to obtain the transitional positioning result corresponding to the sampling time.

[0127] In one embodiment, the receiving module 10 is further configured to obtain the edge region that needs to switch from the first location enhancement service to the second location enhancement service, and use the edge region as the network edge grid; if the coverage area of ​​the first location enhancement service moves to the network edge grid, it is determined that a switch from the first location enhancement service to the second location enhancement service is needed.

[0128] In one embodiment, the receiving module 10 is further configured to send an information acquisition request to the broadcasting platform when a switch from the first location enhancement service to the second location enhancement service is required; the information acquisition request includes a timestamp corresponding to the sampling time, and the information acquisition request is used to instruct the broadcasting platform to send the first location service data and the second location service data to the terminal; and to receive the first location service data and the second location service data.

[0129] In one embodiment, the determining module 20 is further configured to perform calculation processing on the first positioning service data to determine the first positioning result.

[0130] In one embodiment, the determining module 20 is further configured to perform calculation processing on the second positioning service data to determine the second positioning result.

[0131] The aforementioned location service switching device receives first and second location service data corresponding to the edge area of ​​the first location enhancement service from the terminal, determines the transitional positioning result corresponding to the sampling time based on the first and second location service data, and then outputs the transitional positioning result corresponding to the sampling time to smoothly switch from the first location enhancement service to the second location enhancement service. As can be seen from the above, this application determines the transitional positioning result using the first and second location service data at the sampling time. Since the transitional positioning result is determined jointly by the first and second location service data, the transitional positioning result output by this application is neither the first positioning result determined by the first location enhancement service nor the second positioning result determined by the second location enhancement service, but rather a transitional positioning result jointly determined by the two location enhancement services. Therefore, by outputting the transitional positioning result, it prevents abrupt changes in positioning results during the switching process from the first location enhancement service to the second location enhancement service, and reduces the result deviation between each output positioning result without increasing additional user communication consumption and terminal power consumption, thus achieving a smooth switching from the first location enhancement service to the second location enhancement service.

[0132] Each module in the aforementioned location service switching device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0133] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram is shown in Figure 7. The computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor of the computer device provides computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the computer device is used for exchanging information between the processor and external devices. The communication interface of the computer device is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a location service switching method. The display unit of the computer device is used to form a visually visible image and may be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0134] Those skilled in the art will understand that the structure shown in Figure 7 is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0135] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0136] In the case where it is necessary to switch from the first location enhancement service to the second location enhancement service, the terminal receives the first location service data and the second location service data corresponding to the edge area of ​​the first location enhancement service at the sampling time.

[0137] Based on the first positioning service data and the second positioning service data, determine the transitional positioning result corresponding to the sampling time;

[0138] Output the transitional positioning results corresponding to the sampling time to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0139] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0140] Determine the filter coefficients and the preset linear smoothing coefficients;

[0141] Based on the first positioning service data, the second positioning service data, the filter coefficients, and the linear smoothing coefficients, the transition positioning result corresponding to the sampling time is determined.

[0142] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0143] Based on the first location service data, determine the terminal's first location result;

[0144] Based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients, the second positioning service data and the first positioning result are weighted and smoothed to obtain the transitional positioning result corresponding to the sampling time.

[0145] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0146] Using the first positioning result as prior data, the second positioning service data is processed to achieve convergence, thus obtaining the second positioning result of the terminal.

[0147] Based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients, the first and second positioning results are weighted and smoothed to obtain the transitional positioning result corresponding to the sampling time.

[0148] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0149] The second positioning result of the terminal is determined based on the second positioning service data;

[0150] Based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients, the first positioning service data and the second positioning results are weighted and smoothed to obtain the transitional positioning results corresponding to the sampling time.

[0151] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0152] Using the second positioning result as prior data, the first positioning service data is processed to achieve convergence, thus obtaining the first positioning result of the terminal.

[0153] Based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients, the first and second positioning results are weighted and smoothed to obtain the transitional positioning result corresponding to the sampling time.

[0154] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0155] Obtain the edge region that needs to switch from the first location enhancement service to the second location enhancement service, and use the edge region as the network edge grid.

[0156] If the coverage area of ​​the first location enhancement service moves to the network edge grid, it is determined that a switch from the first location enhancement service to the second location enhancement service is required.

[0157] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0158] When it is necessary to switch from the first location enhancement service to the second location enhancement service, an information acquisition request is sent to the broadcasting platform; the information acquisition request includes a timestamp corresponding to the sampling time, and the information acquisition request is used to instruct the broadcasting platform to send the first location service data and the second location service data to the terminal;

[0159] Receive first location service data and second location service data.

[0160] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0161] The first location service data is processed to determine the first location result.

[0162] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0163] The second positioning service data is processed to determine the second positioning result.

[0164] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0165] In the case where it is necessary to switch from the first location enhancement service to the second location enhancement service, the terminal receives the first location service data and the second location service data corresponding to the edge area of ​​the first location enhancement service at the sampling time.

[0166] Based on the first positioning service data and the second positioning service data, determine the transitional positioning result corresponding to the sampling time;

[0167] Output the transitional positioning results corresponding to the sampling time to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0168] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0169] Determine the filter coefficients and the preset linear smoothing coefficients;

[0170] Based on the first positioning service data, the second positioning service data, the filter coefficients, and the linear smoothing coefficients, the transition positioning result corresponding to the sampling time is determined.

[0171] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0172] Based on the first location service data, determine the terminal's first location result;

[0173] Based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients, the second positioning service data and the first positioning result are weighted and smoothed to obtain the transitional positioning result corresponding to the sampling time.

[0174] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0175] Using the first positioning result as prior data, the second positioning service data is processed to achieve convergence, thus obtaining the second positioning result of the terminal.

[0176] Based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients, the first and second positioning results are weighted and smoothed to obtain the transitional positioning result corresponding to the sampling time.

[0177] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0178] The second positioning result of the terminal is determined based on the second positioning service data;

[0179] Based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients, the first positioning service data and the second positioning results are weighted and smoothed to obtain the transitional positioning results corresponding to the sampling time.

[0180] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0181] Using the second positioning result as prior data, the first positioning service data is processed to achieve convergence, thus obtaining the first positioning result of the terminal.

[0182] Based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients, the first and second positioning results are weighted and smoothed to obtain the transitional positioning result corresponding to the sampling time.

[0183] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0184] Obtain the edge region that needs to switch from the first location enhancement service to the second location enhancement service, and use the edge region as the network edge grid.

[0185] If the coverage area of ​​the first location enhancement service moves to the network edge grid, it is determined that a switch from the first location enhancement service to the second location enhancement service is required.

[0186] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0187] When it is necessary to switch from the first location enhancement service to the second location enhancement service, an information acquisition request is sent to the broadcasting platform; the information acquisition request includes a timestamp corresponding to the sampling time, and the information acquisition request is used to instruct the broadcasting platform to send the first location service data and the second location service data to the terminal;

[0188] Receive first location service data and second location service data.

[0189] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0190] The first location service data is processed to determine the first location result.

[0191] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0192] The second positioning service data is processed to determine the second positioning result.

[0193] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0194] In the case where it is necessary to switch from the first location enhancement service to the second location enhancement service, the terminal receives the first location service data and the second location service data corresponding to the edge area of ​​the first location enhancement service at the sampling time.

[0195] Based on the first positioning service data and the second positioning service data, determine the transitional positioning result corresponding to the sampling time;

[0196] Output the transitional positioning results corresponding to the sampling time to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

[0197] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0198] Determine the filter coefficients and the preset linear smoothing coefficients;

[0199] Based on the first positioning service data, the second positioning service data, the filter coefficients, and the linear smoothing coefficients, the transition positioning result corresponding to the sampling time is determined.

[0200] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0201] Based on the first location service data, determine the terminal's first location result;

[0202] Based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients, the second positioning service data and the first positioning result are weighted and smoothed to obtain the transitional positioning result corresponding to the sampling time.

[0203] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0204] Using the first positioning result as prior data, the second positioning service data is processed to achieve convergence, thus obtaining the second positioning result of the terminal.

[0205] Based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients, the first and second positioning results are weighted and smoothed to obtain the transitional positioning result corresponding to the sampling time.

[0206] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0207] The second positioning result of the terminal is determined based on the second positioning service data;

[0208] Based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients, the first positioning service data and the second positioning results are weighted and smoothed to obtain the transitional positioning results corresponding to the sampling time.

[0209] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0210] Using the second positioning result as prior data, the first positioning service data is processed to achieve convergence, thus obtaining the first positioning result of the terminal.

[0211] Based on the ground-based filter coefficients, satellite-based filter coefficients, and linear smoothing coefficients, the first and second positioning results are weighted and smoothed to obtain the transitional positioning result corresponding to the sampling time.

[0212] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0213] Obtain the edge region that needs to switch from the first location enhancement service to the second location enhancement service, and use the edge region as the network edge grid.

[0214] If the coverage area of ​​the first location enhancement service moves to the network edge grid, it is determined that a switch from the first location enhancement service to the second location enhancement service is required.

[0215] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0216] When it is necessary to switch from the first location enhancement service to the second location enhancement service, an information acquisition request is sent to the broadcasting platform; the information acquisition request includes a timestamp corresponding to the sampling time, and the information acquisition request is used to instruct the broadcasting platform to send the first location service data and the second location service data to the terminal;

[0217] Receive first location service data and second location service data.

[0218] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0219] The first location service data is processed to determine the first location result.

[0220] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0221] The second positioning service data is processed to determine the second positioning result.

[0222] 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, data stored, data displayed, 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 the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0223] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media 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), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0224] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0225] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A location service switching method, applied to a terminal, the method comprising: In the case where it is necessary to switch from the first location enhancement service to the second location enhancement service, the first location service data and the second location service data corresponding to the edge area of ​​the first location enhancement service at the sampling time are received; Based on the first positioning service data and the second positioning service data, determine the transitional positioning result corresponding to the sampling time; Output the transitional positioning result corresponding to the sampling time to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

2. The method according to claim 1, wherein, The step of determining the transitional positioning result corresponding to the sampling time based on the first positioning service data and the second positioning service data includes: Determine the filter coefficients and the preset linear smoothing coefficients; The transitional positioning result corresponding to the sampling time is determined based on the first positioning service data, the second positioning service data, the filter coefficients, and the linear smoothing coefficients.

3. The method according to claim 2, wherein, 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 coefficients include ground-based filter coefficients and satellite-based filter coefficients, then determining the transitional positioning result corresponding to the sampling time based on the first positioning service data, the second positioning service data, the filter coefficients, and the linear smoothing coefficient includes: Based on the first location service data, the first location result of the terminal is determined; Based on the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficients, the second positioning service data and the first positioning result are subjected to weighted smoothing processing to obtain the transitional positioning result corresponding to the sampling time.

4. The method according to claim 3, wherein, The step of performing weighted smoothing processing on the second positioning service data and the first positioning result based on the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficients to obtain the transitional positioning result corresponding to the sampling time includes: Using the first positioning result as prior data, the second positioning service data is processed to achieve convergence, thereby obtaining the second positioning result of the terminal. Based on the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficients, the first positioning result and the second positioning result are weighted and smoothed to obtain the transitional positioning result corresponding to the sampling time.

5. The method according to claim 2, wherein, 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, and the filter coefficients include ground-based filter coefficients and satellite-based filter coefficients, then determining the transitional positioning result corresponding to the sampling time based on the first positioning service data, the second positioning service data, the filter coefficients, and the linear smoothing coefficient includes: Based on the second location service data, the second location result of the terminal is determined; Based on the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficients, the first positioning service data and the second positioning result are subjected to weighted smoothing processing to obtain the transitional positioning result corresponding to the sampling time.

6. The method according to claim 5, wherein, The step of performing weighted smoothing processing on the first positioning service data and the second positioning result based on the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficients to obtain the transitional positioning result corresponding to the sampling time includes: Using the second positioning result as prior data, the first positioning service data is processed to achieve convergence, thereby obtaining the first positioning result of the terminal. Based on the ground-based filter coefficients, the satellite-based filter coefficients, and the linear smoothing coefficients, the first positioning result and the second positioning result are weighted and smoothed to obtain the transitional positioning result corresponding to the sampling time.

7. The method according to any one of claims 1 to 6, wherein, The terminal receives the first location service data and the second location service data through a cellular network.

8. The method according to any one of claims 1 to 7, wherein, The method further includes: Obtain the edge region that needs to switch from the first location enhancement service to the second location enhancement service, and use the edge region as a network edge grid. If the coverage area of ​​the first location enhancement service moves to the network edge grid, it is determined that a switch from the first location enhancement service to the second location enhancement service is required.

9. The method according to any one of claims 1 to 8, wherein, In the case where a switch from the first location enhancement service to the second location enhancement service is required, receiving the first location service data and the second location service data corresponding to the edge region of the first location enhancement service at the sampling time includes: When it is necessary to switch from the first location enhancement service to the second location enhancement service, an information acquisition request is sent to the broadcasting platform; the information acquisition request includes a timestamp corresponding to the sampling time, and the information acquisition request is used to instruct the broadcasting platform to send the first location service data and the second location service data to the terminal; Receive the first location service data and the second location service data.

10. The method according to claim 3, wherein, Determining the first positioning result of the terminal based on the first positioning service data includes: The first location service data is processed to determine the first location result.

11. The method according to claim 5, wherein, The step of determining the second location result of the terminal based on the second location service data includes: The second location service data is processed to determine the second location result.

12. A location service switching device, configured on a terminal, the device comprising: The receiving module is configured to receive, at the sampling time, the first positioning service data and the second positioning service data corresponding to the edge area of ​​the first positioning enhancement service of the terminal at the sampling time when it is necessary to switch from the first positioning enhancement service to the second positioning enhancement service; The determining module is used to determine the transitional positioning result corresponding to the sampling time based on the first positioning service data and the second positioning service data; The output module is used to output the transitional positioning result corresponding to the sampling time, so as to smoothly switch from the first positioning enhancement service to the second positioning enhancement service.

13. A computer device comprising a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the method according to any one of claims 1 to 11.

14. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 11.

15. A computer program product comprising a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 11.

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