Method and device for processing differential telegraph text and storage medium

文档序号：1888059 发布日期：2021-11-26 浏览：10次中文

阅读说明：本技术 差分电文的处理方法、装置及存储介质 (Method and device for processing differential telegraph text and storage medium ) 是由何明明朱磊于 2020-05-20 设计创作，主要内容包括：本公开涉及导航和定位技术领域,尤其涉及一种差分电文的处理方法、装置及存储介质。所述方法用于服务器中,包括：获取待处理的差分电文；将差分电文进行转换处理得到转换后的差分电文,转换后的差分电文的数据格式类型不同于差分电文的数据格式类型；将转换后的差分电文发送至自移动设备,自移动设备用于根据转换后的差分电文和卫星信号进行导航定位。本公开实施例通过将待处理的差分电文的数据格式类型进行转换,以便自移动设备根据转换后的差分电文和卫星信号进行导航定位,从而使得可兼容多种定位系统的差分电文,提高了对多种定位系统的兼容性。(The present disclosure relates to the field of navigation and positioning technologies, and in particular, to a method and an apparatus for processing a differential text, and a storage medium. The method is used in a server and comprises the following steps: acquiring a differential message to be processed; converting the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is different from that of the differential message; and sending the converted differential message to the self-moving equipment, wherein the self-moving equipment is used for navigation and positioning according to the converted differential message and the satellite signal. According to the embodiment of the disclosure, the data format type of the differential message to be processed is converted, so that the self-mobile device can perform navigation and positioning according to the converted differential message and the satellite signal, and therefore, the differential message of various positioning systems can be compatible, and the compatibility of the various positioning systems is improved.)

1. A method for processing differential telegraph text, which is used in a server, the method comprising:

acquiring a differential message to be processed;

converting the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is different from that of the differential message;

and sending the converted differential message to a self-moving device, wherein the self-moving device is used for navigation and positioning according to the converted differential message and the satellite signal.

2. The method according to claim 1, wherein the converting the differential message to obtain a converted differential message comprises:

and when the data format type of the differential message is not the data format type supported by the self-moving equipment, converting the differential message to obtain the converted differential message, wherein the data format type of the converted differential message is the data format type supported by the self-moving equipment.

3. The method according to claim 2, wherein the data format type of the differential message comprises one of a first data format type and a second data format type, the data format type of the converted differential message comprises the other of the first data format type and the second data format type, the first data format type is the type of the differential message comprising the raw observation data, and the second data format type is the type of the differential message comprising the ephemeris and the clock error.

4. The method according to claim 2, wherein before the converting the differential text into the converted differential text, the method further comprises:

receiving the supported data format types reported by the mobile equipment; alternatively, the first and second electrodes may be,

sending a query request to the self-mobile device, wherein the query request is used for indicating the self-mobile device to reply to the supported data format type; receiving the supported data format type replied from the mobile device; alternatively, the first and second electrodes may be,

and acquiring a preset data format type supported by the self-mobile equipment.

5. The method according to claim 1, wherein the converting the differential message to obtain a converted differential message comprises:

and when the data format type of the differential message is the type of the differential message comprising the original observation data, converting the differential message to obtain the converted differential message, wherein the data format type of the converted differential message is the type of the differential message comprising the precise ephemeris and the satellite clock error.

6. A method for processing a differential text message, the method being used in a self-moving device, the method comprising:

receiving a differential telegraph text sent by a server;

converting the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is different from that of the differential message;

and carrying out navigation positioning according to the converted differential telegraph text and the converted satellite signal.

7. The method according to claim 6, wherein the converting the differential message to obtain a converted differential message comprises:

and when the data format type of the differential message is not the data format type supported by the self-moving equipment, converting the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is the data format type supported by the self-moving equipment.

8. The method according to claim 7, wherein the data format type of the differential message comprises one of a first data format type and a second data format type, the data format type of the converted differential message comprises the other of the first data format type and the second data format type, the first data format type is the type of the differential message comprising the raw observation data, and the second data format type is the type of the differential message comprising the ephemeris and the clock error.

9. An apparatus for processing a differential text message, the apparatus being used in a server, the apparatus comprising:

the acquisition module is used for acquiring a differential message to be processed;

the conversion module is used for converting the differential message to obtain a converted differential message, and the data format type of the converted differential message is different from that of the differential message;

and the sending module is used for sending the converted differential message to self-moving equipment, and the self-moving equipment is used for carrying out navigation and positioning according to the converted differential message and the satellite signal.

10. An apparatus for processing differential telegraph text, the apparatus being used in a self-moving device, the apparatus comprising:

the receiving module is used for receiving the differential telegraph text sent by the server;

and the positioning module is used for carrying out navigation positioning according to the converted differential telegraph text and the satellite signal.

11. A server, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

acquiring a differential message to be processed;

converting the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is different from that of the differential message;

12. An autonomous mobile device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

receiving a differential telegraph text sent by a server;

converting the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is different from that of the differential message;

and carrying out navigation positioning according to the converted differential telegraph text and the converted satellite signal.

13. A non-transitory computer readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the method of any of claims 1 to 8.

Technical Field

The present disclosure relates to the field of navigation and positioning technologies, and in particular, to a method and an apparatus for processing a differential text, and a storage medium.

Background

At present, two main global positioning systems are available, one is a foundation enhancement system, and Real-time kinematic (RTK) technology is used for positioning; the other is a satellite-based augmentation system, which uses precision Point location (PPP) technology for Positioning. The reference station in the ground based augmentation system may provide a differential message containing the raw observation data, and the reference station in the satellite based augmentation system provides a differential message containing the ephemeris and the satellite clock error.

Generally, when a foundation enhancement system is used for positioning, a certain number of reference stations are required to be built in a certain range for use, so that the convergence time is short, and the positioning accuracy is high; the satellite-based augmentation system is used for positioning, observation data of the global reference station can be directly used, a reference station does not need to be additionally built, and the satellite-based augmentation system is long in convergence time and low in positioning accuracy.

In the related technology, the ground-based augmentation system and the satellite-based augmentation system cannot be used in a mixed mode, and the compatibility of the self-mobile equipment to various positioning systems is low.

Disclosure of Invention

In view of the above, the present disclosure provides a method and an apparatus for processing a differential text, and a storage medium. The technical scheme is as follows:

according to an aspect of the present disclosure, there is provided a method for processing a differential text message, which is used in a server, the method including:

acquiring a differential message to be processed;

converting the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is different from that of the differential message;

In a possible implementation manner, the converting the differential text to obtain a converted differential text includes:

In another possible implementation manner, the data format type of the differential message includes one of a first data format type and a second data format type, the data format type of the converted differential message includes the other of the first data format type and the second data format type, the first data format type is the type of the differential message that includes the raw observation data, and the second data format type is the type of the differential message that includes the ephemeris and the satellite clock difference.

In another possible implementation manner, before the converting the differential text to obtain the converted differential text, the method further includes:

receiving the supported data format types reported by the mobile equipment; alternatively, the first and second electrodes may be,

and acquiring a preset data format type supported by the self-mobile equipment.

In another possible implementation manner, the converting the differential text to obtain a converted differential text includes:

According to another aspect of the present disclosure, there is provided a method for processing a differential text message, which is used in a self-moving device, the method including:

receiving a differential telegraph text sent by a server;

converting the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is different from that of the differential message;

and carrying out navigation positioning according to the converted differential telegraph text and the converted satellite signal.

In a possible implementation manner, the converting the differential text to obtain a converted differential text includes:

According to another aspect of the present disclosure, there is provided a differential text processing apparatus for use in a server, the apparatus including:

the acquisition module is used for acquiring a differential message to be processed;

In a possible implementation manner, the conversion module is further configured to, when the data format type of the differential text is not the data format type supported by the mobile device, perform conversion processing on the differential text to obtain the converted differential text, where the data format type of the converted differential text is the data format type supported by the mobile device.

In another possible implementation manner, the apparatus further includes: a receiving module; the receiving module is configured to:

receiving the supported data format types reported by the mobile equipment; alternatively, the first and second electrodes may be,

and acquiring a preset data format type supported by the self-mobile equipment.

In another possible implementation manner, the conversion module is further configured to:

According to another aspect of the present disclosure, there is provided an apparatus for processing a differential text, for use in a self-moving device, the apparatus including:

the receiving module is used for receiving the differential telegraph text sent by the server;

and the positioning module is used for carrying out navigation positioning according to the converted differential telegraph text and the satellite signal.

In a possible implementation manner, the conversion module is further configured to:

According to another aspect of the present disclosure, there is provided a server including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

acquiring a differential message to be processed;

converting the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is different from that of the differential message;

According to another aspect of the present disclosure, there is provided a self-moving device including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

receiving a differential telegraph text sent by a server;

converting the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is different from that of the differential message;

and carrying out navigation positioning according to the converted differential telegraph text and the converted satellite signal.

According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.

According to the method and the device, the server or the self-mobile equipment is used for converting the differential message to be processed to obtain the converted differential message, the data format type of the converted differential message is different from that of the differential message, so that the self-mobile equipment can conduct navigation positioning according to the converted differential message and satellite signals, the differential messages of various positioning systems can be used compatibly, and the compatibility of the various positioning systems is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a schematic structural diagram of a positioning navigation system provided in an exemplary embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a positioning navigation system according to another exemplary embodiment

Fig. 3 is a flowchart illustrating a method for processing a differential text according to an exemplary embodiment of the present disclosure;

fig. 4 to 9 are flowcharts illustrating a method for processing a differential text according to another exemplary embodiment of the present disclosure;

fig. 10 is a schematic structural diagram illustrating a differential text processing apparatus according to an exemplary embodiment of the present disclosure;

fig. 11 is a schematic structural diagram illustrating a differential text processing apparatus according to another exemplary embodiment of the present disclosure;

FIG. 12 is a block diagram illustrating an apparatus in accordance with an exemplary embodiment;

FIG. 13 is a block diagram illustrating a server in accordance with an example embodiment.

Detailed Description

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.

First, an application scenario to which the present disclosure relates will be described.

Referring to fig. 1, a schematic structural diagram of a positioning navigation system according to an exemplary embodiment of the present disclosure is shown. The positioning and navigation system comprises a ground-based augmentation system and a satellite-based augmentation system.

In the ground based augmentation system, a plurality of ground based augmentation system base stations 12 transmit observed original observation data to a ground based augmentation system server 13 through a network, and the ground based augmentation system server 13 calculates a correction number (also called a differential message) including the original observation data. The ground enhancement system server 13 sends the differential message to the user management server 14, the user management server 14 converts the data format type of the differential message, and sends the converted differential message to the self-moving device 15 for positioning and use by the self-moving device 15. The converted differential text is a differential text of a data format type supported by the mobile device 15.

In the satellite-based augmentation system, a plurality of satellite-based augmentation system base stations 16 transmit observed raw observation data to a satellite-based augmentation system server 17 through a network, and the satellite-based augmentation system server 17 calculates a correction (also called differential text) including ephemeris and satellite clock error. The satellite-based augmentation system server 17 sends the differential message to the user management server 14, the user management server 14 converts the data format type of the differential message, and the converted differential message is sent to the self-moving equipment 15 for positioning and use by the self-moving equipment 15.

The self-moving device 15 is a mobile device having a navigation positioning function. The self-moving device 15 may be an unattended device such as an automatic mower, an automatic cleaning device, an automatic watering device, an automatic snow sweeper, or the self-moving device 15 may also be a small electric vehicle, an electric robot, an electronic wearable product, and the like, which is not limited in the embodiment of the present disclosure.

Optionally, self-moving device 15 includes a housing and a mobile station coupled to the housing, through which base station 12 establishes a communication connection with self-moving device 15. In one possible implementation, the mobile station is detachably connected to the self-moving device 15. The mobile station is located within the housing of the self-moving device 15 or outside the housing of the self-moving device 15. The embodiments of the present disclosure do not limit this.

The ground-based augmentation system server 13 and the satellite-based augmentation system server 17 are collectively referred to as a base station data processing server hereinafter, and the base station data processing server and the user management server 14 may be deployed separately or may be deployed at one location. For convenience of description, the following description will be given only by taking the base station data processing server and the user management server 14 collectively as a server as an example. As shown in fig. 2, it shows a schematic structural diagram of a positioning navigation system provided by another exemplary embodiment. The position location navigation system includes a base station 22, a server 24, and a self-moving device 26.

The base station 22 is the base station 12 or the satellite-based augmentation system base station 16 in the above embodiments. The base station 22 establishes a communication connection with the server 24.

The server 24 includes the base station data processing server and the user management server 14 in the above embodiments.

The self-moving device 26 is the self-moving device 15 in the above embodiment. A communication connection is established from the mobile device 26 to the server 24.

In the case where the data format of the differential telegram required from the mobile device 26 is different from the data format sent from the server 24, the data format type of the differential telegram is converted at the server 24 side or at the mobile device 26 side.

In one possible implementation, the server 24 is configured to obtain a differential text message to be processed; converting the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is different from that of the differential message; the converted differential text is sent to the self-moving device 26. The self-moving device 26 is used for navigation positioning according to the converted differential telegraph text and satellite signals.

In another possible implementation, the self-mobile device 26 is configured to receive a differential text message sent by the server 24; converting the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is different from that of the differential message; and performing navigation positioning according to the converted differential telegraph text and the satellite signal.

The satellite signal is acquired from the mobile device 26 from a satellite system through its antenna. Optionally, the Satellite System includes a Global Positioning System (GPS) or a galileo Satellite Navigation System or a beidou Satellite Navigation System or a Global Navigation Satellite System (GLONASS), which is not limited in this disclosure.

The following describes a method for processing a differential text provided by the embodiments of the present disclosure with several exemplary embodiments.

Referring to fig. 3, a flowchart of a method for processing a differential text message according to an exemplary embodiment of the present disclosure is shown, and this embodiment is illustrated by using the method in the positioning navigation system shown in fig. 2. The method comprises the following steps.

Step 301, the server obtains a differential telegraph text to be processed.

Each base station sends the observed original observation data to a server through a network, and the server calculates the correction number, namely the difference message according to the received original observation data.

The differential message is data used for performing navigation and positioning after correcting the received satellite signals.

Optionally, after the communication connection between the mobile device and the server is successfully established, the mobile device reports the current location information of the mobile device to the server. The server calculates the weight occupied by each base station according to the position information of the mobile equipment, and the server calculates the difference message according to the weight of each base station and the original observation data. The present embodiment does not limit the manner in which the server acquires the differential text.

And step 302, the server converts the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is different from that of the differential message.

The server obtains a data format type supported by the mobile device in advance, judges whether the data format type of the differential message is the data format type supported by the mobile device, and when the data format type of the differential message is not the data format type supported by the mobile device, converts the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is the data format type supported by the mobile device. When the data format type of the differential message is the data format type supported by the self-moving equipment, conversion is not needed, the server directly sends the differential message to the self-moving equipment, and the self-moving equipment carries out navigation positioning according to the differential message and the satellite signal.

Before the server converts the differential message to obtain the converted differential message, the method further comprises the following steps: the server obtains from the data format types supported by the mobile device. The types of data formats supported by the server obtained from the mobile device include, but are not limited to, the following several possible implementations:

in one possible implementation, the server receives supported data format types reported from the mobile device.

After the communication connection between the self-mobile equipment and the server is successfully established, the self-mobile equipment reports the data format type supported by the self-mobile equipment to the server.

In another possible implementation manner, the server sends an inquiry request to the self-mobile device, wherein the inquiry request is used for indicating the self-mobile device to reply to the supported data format type; the server receives the supported data format types returned from the mobile device.

In another possible implementation manner, the server acquires a preset data format type supported by the self-mobile device.

The embodiment of the present disclosure does not impose any limitation on the manner in which the server obtains the data format types supported by the mobile device.

The data format type of the differential message comprises one of a first data format type and a second data format type, the data format type of the converted differential message comprises the other of the first data format type and the second data format type, the first data format type is the type of the differential message comprising the original observation data, and the second data format type is the type of the differential message comprising the precise ephemeris and the satellite clock difference.

For example, if the data format type of the differential text message is a first data format type, and the data format type supported by the mobile device is a second data format type, the converting, by the server, the differential text message includes: and converting the data format type of the differential telegraph text from the first data format type to the second data format type.

For another example, if the data format type of the differential text message is the second data format type, and the data format type supported by the mobile device is the first data format type, the step of converting the differential text message by the server includes: and converting the data format type of the differential telegraph text from the second data format type to the first data format type.

And 303, the server sends the converted differential message to the self-moving equipment, and the self-moving equipment is used for navigation and positioning according to the converted differential message and the satellite signal.

And the server sends the converted differential message to the self-moving equipment, the self-moving equipment receives the converted differential message, and the self-moving equipment carries out navigation positioning according to the converted differential message and the satellite signal.

And the self-mobile equipment carries out navigation positioning according to the converted differential telegraph text and the satellite signals acquired from the satellite system. Illustratively, the self-mobile device corrects the received satellite signal according to the converted differential telegraph text and the satellite signal to obtain the positioning position of the self-mobile device.

And the self-moving equipment determines a positioning error according to the converted differential telegraph text and the satellite signal acquired from the satellite system, corrects the satellite signal acquired from the satellite system according to the positioning error and determines the current position information of the self-moving equipment. The self-moving equipment determines the relative position between the self-moving equipment and the base station according to the corrected position information and the converted differential telegraph text, and carries out navigation and positioning in a preset map of a working area according to the relative position, so that high-efficiency and reliable navigation data can be provided, and the accuracy of the navigation and positioning is improved.

In an illustrative example, when a ground-based augmentation system is used for high-precision positioning, a manner of converting a differential message in a server is shown in fig. 4, and step 401 is that a base station acquires original observation data; step 402, the base station sends the original observation data to a server; step 403, the server determines a difference message according to the original observation data; step 404, when the data format type of the differential message is not the data format type supported by the mobile device, the server converts the differential message; step 405, the server sends the converted differential telegraph text to the self-moving equipment; and 406, performing navigation positioning on the self-mobile equipment according to the converted differential telegraph text and the satellite signal.

Referring to fig. 5, a flowchart of a method for processing a differential text message according to another exemplary embodiment of the present disclosure is shown, which is illustrated in the embodiment of the positioning navigation system shown in fig. 2. The method comprises the following steps.

Step 501, receiving a differential telegraph text sent by a server from a mobile device.

The base station sends the observed original observation data to the server through the network, the server calculates the correction number, namely the differential message according to the received original observation data, and the differential message is sent to the self-moving equipment. Correspondingly, the differential telegraph text sent by the server is received from the mobile equipment.

Step 502, the mobile device converts the differential message to obtain a converted differential message, wherein the data format type of the converted differential message is different from the data format type of the differential message.

And judging whether the data format type of the differential message is the data format type supported by the self-moving equipment or not by the self-moving equipment, and when the data format type of the differential message is not the data format type supported by the self-moving equipment, converting the differential message to obtain the converted differential message, wherein the data format type of the converted differential message is the data format type supported by the self-moving equipment. When the data format type of the differential message is the data format type supported by the self-moving equipment, conversion is not needed, the server directly sends the differential message to the self-moving equipment, and the self-moving equipment carries out navigation positioning according to the differential message and the satellite signal.

In the process of converting the differential text from the mobile device to obtain the converted differential text, the reference server may be used to convert the differential text to obtain the details of the converted differential text, which is not described herein again.

And step 503, the self-mobile equipment carries out navigation positioning according to the converted differential telegraph text and the satellite signal.

And the self-mobile equipment carries out navigation and positioning according to the converted differential message and the received satellite signal through the satellite signal sent by the satellite system and received by the antenna of the self-mobile equipment. Illustratively, the self-mobile device corrects the received satellite signals according to the converted differential telegraph text to obtain the positioning position of the self-mobile device.

In summary, in the embodiment of the present disclosure, the server or the self-moving device converts the differential text to be processed to obtain the converted differential text, and the data format type of the converted differential text is different from the data format type of the differential text, so that the self-moving device performs navigation and positioning according to the converted differential text and the satellite signal, thereby implementing compatible use of the differential text of multiple positioning systems, and improving compatibility of the multiple positioning systems.

The embodiment of the disclosure further improves the compatibility with various positioning systems by converting the differential message to obtain the converted differential message by the server or the self-moving device under the condition that the data format of the differential message required by the self-moving device is different from the data format sent by the server, wherein the data format type of the converted differential message is the data format type supported by the self-moving device.

Referring to fig. 6, a flowchart of a method for processing a differential text message according to another exemplary embodiment of the present disclosure is shown, which is illustrated in the embodiment of the positioning navigation system shown in fig. 2. The method comprises the following steps.

Step 601, the server obtains the differential telegraph text to be processed.

The base station sends the observed original observation data to the server through the network, and the server calculates the correction number, namely the difference message according to the received original observation data.

The differential message is data used for performing navigation and positioning after correcting the received satellite signals.

It should be noted that, the manner in which the server obtains the to-be-processed differential text may refer to relevant details in the foregoing embodiments, and details are not described herein again.

Step 602, when the data format type of the differential message is the type of the differential message including the original observation data, the server converts the differential message to obtain a converted differential message, and the data format type of the converted differential message is the type of the differential message including the precise ephemeris and the satellite clock error.

Since the data amount of the differential message including the raw observation data is larger than that of the differential message including the ephemeris and the satellite clock difference, more network resources are occupied for transmitting the differential message including the raw observation data during the network transmission. From the perspective of saving network resources, the embodiment of the present disclosure further converts the data format type of the differential text into the data format type occupying less network resources and then transmits the data format type.

The server judges whether the data format type of the differential message is the type of the differential message comprising the original observation data, and if the data format type of the differential message is the type of the differential message comprising the original observation data, the server converts the data format type of the differential message into the type of the differential message comprising the precise ephemeris and the satellite clock error. And if the data format type of the differential message is not the type of the differential message comprising the original observation data, the server directly sends the differential message to the self-mobile equipment.

And step 603, the server sends the converted differential telegraph text to the self-moving equipment.

And the server sends the converted differential telegraph text to the self-moving equipment through the network.

And step 604, when the data format type of the converted differential message is not the supported data format type, converting the converted differential message again by the mobile equipment to obtain a target differential message, and performing navigation and positioning according to the target differential message and the satellite signal.

Judging whether the data format type of the converted differential message is the supported data format type or not by the self-mobile equipment, and if the data format type of the converted differential message is the supported data format type, performing navigation and positioning by the self-mobile equipment according to the converted differential message and the satellite signal; and if the data format type of the converted differential message is not the supported data format type, converting the converted differential message again by the mobile equipment to obtain a target differential message, and performing navigation positioning according to the target differential message and the satellite signal.

The target differential text is a data format type supported by the self-mobile device. The data format type of the converted differential message is the type of the differential message comprising the precise ephemeris and the satellite clock error, and the data format type of the target differential message is the type of the differential message comprising the original observation data.

In an illustrative example, when a ground-based augmentation system is used for high-precision positioning, a differential message is converted in a server and a self-moving device as shown in fig. 7, and in step 701, a base station acquires original observation data; step 702, the base station sends the original observation data to a server; 703, the server determines a differential message according to the original observation data; step 704, the server converts the data format type of the differential telegraph text into the type of the differential telegraph text comprising the precise ephemeris and the satellite clock error; step 705, the server sends the converted differential telegraph text to the self-moving equipment; step 706, when the data format type of the converted differential message is not the supported data format type, the self-mobile device performs conversion processing on the converted differential message again, and then performs navigation and positioning by combining with the satellite signal.

In summary, because the data amount of the differential message including the original observation data is greater than the data amount of the differential message including the ephemeris and the satellite clock error, based on consideration of network resources, the embodiment of the present disclosure further performs conversion processing on the differential message by the server to obtain the converted differential message when the data format type of the differential message is the type of the differential message including the original observation data, and the data format type of the converted differential message is the type of the differential message including the ephemeris and the satellite clock error; the server sends the converted differential message to the self-moving equipment, when the data format type of the converted differential message is not the supported data format type, the self-moving equipment converts the converted differential message again to obtain a target differential message, and navigation positioning is carried out according to the target differential message and the satellite signal; the situation that network resources occupied by transmitting the differential messages including the original observation data are more in the network transmission process is avoided, and the network resources occupied by transmitting the differential messages are saved on the premise that the differential messages compatible with various positioning systems are guaranteed.

In an illustrative example, a data format type of a converted difference message in a server is set, the server includes a base station data processing server and a user management server, and a flowchart of a method for processing a difference message according to another exemplary embodiment of the present disclosure is shown in fig. 8.

The steps performed by the base station data processing server include, but are not limited to: step 801, a base station data processing server receives base station data; step 802, the base station data processing server verifies the base station data; step 803, the base station data processing server analyzes the base station data; step 804, the base station data processing server determines whether the current location information of the mobile device is received, if so, step 805 is executed, and if not, step 801 is continuously executed; step 805, the base station data processing server determines the weight occupied by each base station according to the current position information of the mobile equipment; step 806, the base station data processing server determines a differential telegraph text; in step 807, the base station data processing server transmits the differential telegram to the user management server.

The steps performed by the user management server include, but are not limited to: step 808, the user management server waits for the connection of the self-mobile device; step 809, the user management server determines whether the connection of the mobile device is successful, if the connection is successful, step 810 is executed, and if the connection is not successful, step 808 is continuously executed; step 810, the user management server sends an inquiry request to the self-mobile device, wherein the inquiry request is used for indicating that the self-mobile device replies to the data format type supported by the self-mobile device; step 811, the user management server determines whether the mobile device replies the data format type, if so, step 812 is executed, and if not, step 810 is continuously executed; step 812, the user management server waits for the position information sent by the mobile device from the current position of the mobile device; step 813, the user management server determines whether the current location information is reported from the mobile device, if so, step 814 is executed, and if not, step 812 is continuously executed; step 814, the user management server forwards the current location information of the mobile device to the base station data processing server; step 815, the user management server judges whether the differential message is received, if the differential message is received, step 816 is executed, and if the differential message is not received, step 815 is continuously executed; step 816, the user management server converts the data format type of the differential telegraph text into the data format type supported by the mobile equipment; step 817, the user management server sends the converted differential telegraph text to the self-moving equipment; step 818, the user management server determines whether the mobile device is disconnected, if so, step 808 is executed, and if not, step 812 is continuously executed.

The steps performed from the mobile device include, but are not limited to: step 819, connecting the user management server from the mobile device; step 820, judging whether an inquiry request sent by the user management server is received from the mobile equipment, if so, executing step 821, and if not, continuing to execute step 820; step 821, replying the data format type supported by the self-mobile device from the self-mobile device; step 822, reporting the current position information to the user management server from the mobile equipment; step 823, the mobile device determines whether the converted differential telegraph text is received, if so, step 824 is executed, and if not, step 823 is executed; step 824, acquiring satellite signals from the mobile device from the satellite system; step 825, the self-mobile equipment carries out navigation positioning according to the converted differential telegraph text and the satellite signal; step 826, the self-mobile device controls its motion and continues with step 822.

In another illustrative example, a flow chart of a processing method of differential telegrams provided by another exemplary embodiment of the present disclosure is shown in fig. 9, where the data format types of the differential telegrams are set to be converted in both a server and a self-moving device, and the server includes a base station data processing server and a user management server.

The steps performed by the base station data processing server include, but are not limited to: step 901, a base station data processing server receives base station data; step 902, the base station data processing server verifies the base station data; step 903, the base station data processing server analyzes the base station data; step 904, the base station data processing server determines whether the current location information of the mobile device is received, if so, step 905 is executed, and if not, step 901 continues to be executed; step 905, the base station data processing server determines the weight of each base station according to the current position information of the mobile equipment; step 906, the base station data processing server determines a differential telegraph text; in step 907, the base station data processing server transmits the differential telegram to the user management server.

The steps performed by the user management server include, but are not limited to: step 908, the user management server waits for the connection from the mobile device; step 909, the user management server determines whether the mobile device is successfully connected, if so, step 910 is executed, and if not, step 908 is continuously executed; step 910, the user management server waits for the current position information sent by the mobile device; step 911, the user management server determines whether the current location information is reported from the mobile device, if so, step 912 is executed, and if not, step 910 is continuously executed; step 912, the user management server forwards the current location information of the mobile device to the base station data processing server; step 913, the user management server determines whether the differential message is received, if so, step 914 is executed, and if not, step 910 is continuously executed; step 914, the user management server converts the data format type of the differential telegraph text into the type of the differential telegraph text comprising the precise ephemeris and the satellite clock error; step 915, the user management server sends the converted differential telegraph text to the self-moving equipment; in step 916, the user management server determines whether the mobile device is disconnected, if so, step 908 is executed, and if not, step 910 is continuously executed.

The steps performed from the mobile device include, but are not limited to: step 917, connecting the user management server from the mobile device; step 918, reporting the current position information to the user management server from the mobile equipment; step 919, determining whether the converted differential telegraph text is received from the mobile equipment, if so, executing step 920, and if not, continuing to execute step 919; step 920, when the data format type of the converted differential message is not the data format type supported by the mobile device, the mobile device converts the converted differential message again to obtain a target differential message, wherein the data format type of the target differential message is the type of the differential message including the original observation data; step 921, receiving a satellite signal sent by a satellite system from the mobile device; step 922, the self-moving equipment carries out navigation positioning according to the target differential telegraph text and the satellite signal; in step 923, the self-mobile device controls the self-movement and continues to execute step 918.

The following are embodiments of the apparatus of the embodiments of the present disclosure, and for portions of the embodiments of the apparatus not described in detail, reference may be made to technical details disclosed in the above-mentioned method embodiments.

Referring to fig. 10, a schematic structural diagram of a device for processing a differential text according to an exemplary embodiment of the present disclosure is shown. The differential text processing device can be implemented by software, hardware, or a combination of both as all or part of the server. The device includes: an acquisition module 1010, a conversion module 1020, and a transmission module 1030.

An obtaining module 1010, configured to obtain a differential message to be processed;

the conversion module 1020 is configured to perform conversion processing on the differential message to obtain a converted differential message, where a data format type of the converted differential message is different from a data format type of the differential message;

a sending module 1030, configured to send the converted differential message to a self-moving device, where the self-moving device is configured to perform navigation and positioning according to the converted differential message and a satellite signal.

In a possible implementation manner, the converting module 1020 is further configured to, when the data format type of the differential text is not the data format type supported by the mobile device, perform conversion processing on the differential text to obtain a converted differential text, where the data format type of the converted differential text is the data format type supported by the mobile device.

In another possible implementation manner, the data format type of the differential message includes one of a first data format type and a second data format type, the data format type of the converted differential message includes the other of the first data format type and the second data format type, the first data format type is the type of the differential message including the raw observation data, and the second data format type is the type of the differential message including the ephemeris and the satellite clock difference.

In another possible implementation manner, the apparatus further includes: a receiving module; a receiving module to:

receiving the supported data format types reported by the mobile equipment; alternatively, the first and second electrodes may be,

sending a query request to the self-mobile device, wherein the query request is used for indicating the self-mobile device to reply to the supported data format type; receiving a supported data format type returned from the mobile device; alternatively, the first and second electrodes may be,

and acquiring a preset data format type supported by the self-mobile equipment.

In another possible implementation manner, the conversion module 1020 is further configured to:

It should be noted that, when the apparatus provided in the foregoing embodiment implements the functions thereof, only the division of the above functional modules is illustrated, and in practical applications, the above functions may be distributed by different functional modules according to actual needs, that is, the content structure of the device is divided into different functional modules, so as to complete all or part of the functions described above.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

Referring to fig. 11, a schematic structural diagram of a device for processing a differential text provided in another exemplary embodiment of the present disclosure is shown. The differential text processing means may be implemented as all or part of a self-moving device by software, hardware, or a combination of both. The device includes: a receiving module 1110, a converting module 1120, and a positioning module 1130.

A receiving module 1110, configured to receive a differential message sent by a server;

the conversion module 1120 is configured to perform conversion processing on the differential message to obtain a converted differential message, where a data format type of the converted differential message is different from a data format type of the differential message;

and a positioning module 1130, configured to perform navigation positioning according to the converted differential text and the satellite signal.

In a possible implementation manner, the conversion module 1120 is further configured to:

and when the data format type of the differential message is not the data format type supported by the mobile equipment, converting the differential message to obtain the converted differential message, wherein the data format type of the converted differential message is the data format type supported by the mobile equipment.

In another possible implementation manner, the data format type of the differential message includes one of a first data format type and a second data format type, the data format type of the converted differential message includes the other of the first data format type and the second data format type, the first data format type is the type of the differential message including the raw observation data, and the second data format type is the type of the differential message including the ephemeris and the satellite clock difference.

An embodiment of the present disclosure further provides a server, where the server includes: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: the steps executed by the server in the above method embodiments are realized.

An embodiment of the present disclosure further provides a self-moving device, where the self-moving device includes: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: the steps executed by the self-mobile device in the method embodiments are realized.

The disclosed embodiments also provide a non-transitory computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the above-described method embodiments.

Fig. 12 is a block diagram illustrating an apparatus 1200 according to an example embodiment. For example, the apparatus 1200 may be a self-moving device in the various embodiments described above.

Referring to fig. 12, the apparatus 1200 may include one or more of the following components: processing component 1202, memory 1204, power component 1206, multimedia component 1208, audio component 1210, input/output (I/O) interface 1212, sensor component 1214, and communications component 1216.

The processing component 1202 generally controls overall operation of the apparatus 1200, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 1202 may include one or more processors 1220 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 1202 can include one or more modules that facilitate interaction between the processing component 1202 and other components. For example, the processing component 1202 can include a multimedia module to facilitate interaction between the multimedia component 1208 and the processing component 1202.

The memory 1204 is configured to store various types of data to support operation at the apparatus 1200. Examples of such data include instructions for any application or method operating on the device 1200, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 1204 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

A power supply component 1206 provides power to the various components of the device 1200. Power components 1206 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for apparatus 1200.

The multimedia components 1208 include a screen that provides an output interface between the device 1200 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 1208 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the apparatus 1200 is in an operation mode, such as a photographing mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

Audio component 1210 is configured to output and/or input audio signals. For example, audio component 1210 includes a Microphone (MIC) configured to receive external audio signals when apparatus 1200 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 1204 or transmitted via the communication component 1216. In some embodiments, audio assembly 1210 further includes a speaker for outputting audio signals.

The I/O interface 1212 provides an interface between the processing component 1202 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 1214 includes one or more sensors for providing various aspects of state assessment for the apparatus 1200. For example, the sensor assembly 1214 may detect an open/closed state of the apparatus 1200, the relative positioning of the components, such as a display and keypad of the apparatus 1200, the sensor assembly 1214 may also detect a change in the position of the apparatus 1200 or a component of the apparatus 1200, the presence or absence of user contact with the apparatus 1200, orientation or acceleration/deceleration of the apparatus 1200, and a change in the temperature of the apparatus 1200. The sensor assembly 1214 may include a proximity sensor configured to detect the presence of a nearby object in the absence of any physical contact. The sensor assembly 1214 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 1214 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communications component 1216 is configured to facilitate communications between the apparatus 1200 and other devices in a wired or wireless manner. The apparatus 1200 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1216 receives the broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communications component 1216 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the apparatus 1200 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer readable storage medium, such as the memory 1204, is also provided, including computer program instructions executable by the processor 1220 of the apparatus 1200 to perform the methods described above.

Fig. 13 is a block diagram illustrating a server 1300 according to an example embodiment. For example, the server 1300 may be the server in the various embodiments described above. Referring to fig. 13, server 1300 includes a processing component 1322, which further includes one or more processors, and memory resources, represented by memory 1332, for storing instructions, such as application programs, that may be executed by processing component 1322. The application programs stored in memory 1332 may include one or more modules that each correspond to a set of instructions. Further, processing component 1322 is configured to execute instructions to perform the methods described above.

The server 1300 may also include a power component 1326 configured to perform power management for the server 1300, a wired or wireless network interface 1350 configured to connect the server 1300 to a network, and an input-output (I/O) interface 1358. The server 1300 may operate based on an operating system stored in memory 1332, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, or the like.

In an exemplary embodiment, a non-transitory computer readable storage medium, such as the memory 1332, is also provided that includes computer program instructions executable by the processing component 1322 of the server 1300 to perform the above-described method.

The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

26页详细技术资料下载

Method and device for processing differential telegraph text and storage medium

相关技术

网友询问留言