WO2021063398A1 - Base station switching method, apparatus, and readable storage medium - Google Patents

Base station switching method, apparatus, and readable storage medium Download PDF

Info

Publication number
WO2021063398A1
WO2021063398A1 PCT/CN2020/119446 CN2020119446W WO2021063398A1 WO 2021063398 A1 WO2021063398 A1 WO 2021063398A1 CN 2020119446 W CN2020119446 W CN 2020119446W WO 2021063398 A1 WO2021063398 A1 WO 2021063398A1
Authority
WO
WIPO (PCT)
Prior art keywords
base station
mobile station
station
cloud
mobile
Prior art date
Application number
PCT/CN2020/119446
Other languages
French (fr)
Chinese (zh)
Inventor
何明明
吴双龙
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2021063398A1 publication Critical patent/WO2021063398A1/en

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/24—Reselection being triggered by specific parameters
    • H04W36/32—Reselection being triggered by specific parameters by location or mobility data, e.g. speed data
    • H04W36/322—Reselection being triggered by specific parameters by location or mobility data, e.g. speed data by location data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/0005—Control or signalling for completing the hand-off
    • H04W36/0055—Transmission or use of information for re-establishing the radio link
    • H04W36/0077—Transmission or use of information for re-establishing the radio link of access information of target access point
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/10—Protocols in which an application is distributed across nodes in the network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/0005—Control or signalling for completing the hand-off
    • H04W36/0083—Determination of parameters used for hand-off, e.g. generation or modification of neighbour cell lists
    • H04W36/0085—Hand-off measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment

Definitions

  • the present disclosure relates to the field of communication technologies, and in particular, to a base station handover method, device, and readable storage medium.
  • RTK Real-time kinematic, real-time dynamic base station
  • the use of RTK base station positioning is a measurement method that can obtain centimeter-level positioning accuracy in real time in the field. It uses the carrier phase dynamic real-time differential method. It is a major milestone in GPS application. Its emergence is engineering stakeout, topographic mapping, and various control measurements. Brings new measurement principles and methods, greatly improving work efficiency.
  • the base station will fail due to power outages, damage, upgrades, etc., and the mobile station will fail after the base station fails. Perform high-precision positioning, positioning errors, etc. When the mobile station is too far away from the base station, the positioning error will increase.
  • the lawn mower robot uses the positioning service provided by the base station of the communication network to perform positioning to achieve precise control of the work area.
  • the positioning accuracy is relatively high.
  • the base station fails due to power failure, damage, upgrade, etc., as described above, abnormal positioning of the lawn mower robot occurs, high-precision wireless positioning or positioning error occurs, resulting in work errors.
  • the present disclosure proposes a base station handover method and device.
  • the base station switching method of the embodiments of the present disclosure can enable the mobile station to obtain the base station closest to the current location from the cloud, and switch to the base station, so as to improve the positioning of the mobile station during operation. Accuracy.
  • the mobile station serving the abnormal base station can also be quickly switched to the normal base station to achieve uninterrupted, high-precision positioning.
  • a base station handover method is provided, the method is applied to a mobile station, and the method includes:
  • the mobile station After acquiring its real-time location, the mobile station sends an acquisition request to the cloud; wherein the acquisition request is used to acquire the first base station that provides services to the mobile station, and the acquisition request carries the real-time location of the mobile station; the first base station is the distance The nearest base station of the mobile station, and the mobile station is within the service range of the first base station;
  • the confirmation message of subscribing to the first base station is fed back to the cloud to subscribe to the first base station.
  • the first base station is one of one or more base stations within a certain distance range from the mobile station.
  • the method further includes:
  • the mobile station determines the first base station that provides services to the mobile station based on its own real-time information and the location information of the base station.
  • feeding back a confirmation message for subscribing to the first base station to the cloud according to the identification information, and subscribing to the first base station includes:
  • the service is switched to the first base station.
  • the method further includes:
  • the base station After receiving the location information of the base station, according to the real-time location of the mobile station and the location information of the base station, determine whether the base station closest to the mobile station is the base station currently serving the mobile station. If not, subscribe to the announcement of the base station closest to the mobile station. The data.
  • the method further includes:
  • the method further includes:
  • real-time positioning is performed according to the new data to obtain the real-time position
  • the mobile station acquiring its real-time position may refer to acquiring its real-time position when the mobile station is turned on, or the mobile station performs real-time positioning update based on the data issued by the first base station. Real-time location.
  • a base station handover method is provided, the method is applied to the cloud, and the method includes:
  • the first base station that provides services to the mobile station is determined.
  • the first base station is the base station closest to the mobile station and the service range of the first base station of the mobile station Inside;
  • the first base station is one of one or more base stations within a certain distance range from the mobile station.
  • the method further includes:
  • the locally stored location information of the base station is sent to the mobile station, so that the mobile station determines the first base station that provides service to the mobile station based on the real-time location of the mobile station itself and the location information of the base station.
  • the method further includes:
  • the result that the first base station is available is fed back to the mobile station, so that the mobile station switches the service to the first base station.
  • sending the identification information of the first base station to the mobile station includes:
  • the first base station that provides the service to the mobile station is determined,
  • the real-time location of the mobile station and the location information of the base station stored locally in the cloud determine one or more base stations within a certain distance from the mobile station, and the mobile station is within the service range of the one or more base stations;
  • the cloud determines a base station from the one or more base stations as a base station that provides services to the mobile station.
  • determining the first base station that provides services to the mobile station further includes:
  • a base station that provides services to the mobile station is re-determined from the one or more base stations.
  • the method further includes:
  • the cloud determines one or more base stations within a certain range from the mobile station or determines the base station closest to the mobile station, but the mobile station is not within the service range of the one or more base stations or the base station closest to the mobile station is determined, Switch to network RTK mode to calculate the virtual base station for the mobile station.
  • a second base station that provides services to the mobile station served by the abnormal base station is determined, and the second base station is the base station closest to the abnormal base station, or The second base station is the base station closest to the mobile station served by the abnormal base station.
  • the identification information of the second base station is sent to the mobile station served by the abnormal base station, so that the mobile station served by the abnormal base station subscribes to the second base station.
  • a base station handover method is provided, the method is applied to a server, and the method includes:
  • the method further includes:
  • the device information of the second base station is sent to the mobile station, the device information includes identification information and location information, so that the mobile station determines the third base station to be handed over according to the location information of the second base station and the second location information, and Identification information of the third base station.
  • the method further includes:
  • the method further includes:
  • the base station is an abnormal base station
  • the serving base station of the mobile station in the subscription list is switched from the abnormal base station to the base station closest to the abnormal base station.
  • the method further includes:
  • the data message carries identification information of the mobile station
  • the data message is parsed to obtain data, the corresponding mobile station is determined according to the identification information of the mobile station, and the data is forwarded to the mobile station.
  • the method further includes:
  • the service request is sent when the mobile station completes the registration, or is sent periodically after the registration is completed.
  • a positioning system includes a cloud server, a mobile station, and a base station,
  • the cloud server forwards the data sent by the base station to the mobile station to the mobile station, and the mobile station performs positioning according to the data;
  • the cloud server determines that the base station is an abnormal base station if it does not receive the data sent by the base station or the reported status information within a predetermined time period after the last time it received the data sent by the base station or the status information reported;
  • the cloud server obtains the subscription list of the abnormal base station
  • the cloud server switches the serving base station of the mobile station in the subscription list from the abnormal base station to the base station closest to the abnormal base station.
  • a base station switching device including: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above method.
  • a non-volatile computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions implement the above method when executed by a processor.
  • the base station switching method of the embodiments of the present disclosure can enable the mobile station to obtain the base station closest to the current location from the cloud, and switch to the base station, so as to improve the positioning of the mobile station during operation. Accuracy.
  • the mobile station serving the abnormal base station can also be quickly switched to the normal base station to achieve uninterrupted, high-precision positioning.
  • Fig. 1 shows a schematic diagram of an application scenario according to an embodiment of the present disclosure.
  • Fig. 2 shows a flowchart of a base station handover method according to an embodiment of the present disclosure.
  • Fig. 3 shows a flowchart of a base station handover method according to another embodiment of the present disclosure.
  • Fig. 4 shows a schematic diagram of an application scenario according to an example of the present disclosure.
  • Fig. 5 is a block diagram showing a device for base station handover according to an exemplary embodiment.
  • Fig. 6 is a block diagram showing a device for base station handover according to an exemplary embodiment.
  • Fig. 1 shows a schematic diagram of an application scenario according to an embodiment of the present disclosure.
  • Fig. 2 shows a flowchart of a base station handover method according to an embodiment of the present disclosure. The base station handover method of the present disclosure will be described with reference to FIG. 1 and FIG. 2.
  • the application scenario of the base station handover method of the present disclosure may include a network composed of multiple base stations, the cloud, and a mobile station.
  • the base station may be a base station that provides mobile communication services.
  • the base station may be an RTK base station;
  • the cloud may be a cloud server;
  • the mobile station may be various end user equipment, such as the lawn mower robot described above.
  • the device information of the base station can be registered with the cloud, and the device information of the base station can include the identification information and location information of the base station.
  • the base station can send the identification information and location information of the base station to the cloud.
  • the cloud receives the identification information and location information of the base station sent by the base station, it stores it locally in the cloud.
  • the location information of the current location of the base station can be obtained from a satellite (for example, GPS).
  • the registration request carries the identification information of the base station and the location information of the base station.
  • the cloud receives the registration request, it can store the identification information and location information of the base station in the cloud database.
  • the storage may be in the form of a table (base station equipment information table), and one table entry records the identification information and location information of a base station.
  • the information of the mobile station served by the base station that is, the subscription list, for example, the identification information and location information of the mobile station, can also be recorded in the above table entry.
  • the location of the mobile station that records the base station service in the table entry can be set to empty.
  • the base station After the base station completes registration, it can determine whether there are devices currently subscribed to the base station’s data. For example, the base station can send a request to the cloud to obtain the information of the mobile station that obtains the service, that is, send a get request to the cloud to get the subscription list. It can carry the identification information of the base station. After the cloud receives the acquisition request, it can find the mobile station information (that is, the subscription list) served by the base station according to the identification information of the base station, and return the subscription list to the base station. With the subscription list, the base station can determine whether there is currently a device subscribed to the base station's data.
  • the base station can send a request to the cloud to obtain the information of the mobile station that obtains the service, that is, send a get request to the cloud to get the subscription list. It can carry the identification information of the base station.
  • the cloud After the cloud receives the acquisition request, it can find the mobile station information (that is, the subscription list) served by the base station according to the identification information
  • the cloud finds that the information (subscription list) of the mobile station served by the base station is empty. Therefore, the information (subscription list) of the mobile station served by the base station returned to the base station is empty, based on the cloud With the returned information, the base station can determine that no device has subscribed to the base station's data.
  • the base station can first send the data to be sent to the cloud, and can send the data to the cloud in the form of a data message.
  • the data message can carry the identification information of the base station and the identification information of the mobile station.
  • the cloud After receiving the data message sent by the base station, according to the identification information of the base station, it is possible to find out whether there is a mobile station that matches the identification information of the mobile station carried in the data message according to the identification information of the base station. It is forwarded to a mobile station that matches the identification information of the mobile station carried in the data message. If it does not exist, the cloud can discard the message.
  • the base station does not need to send an acquisition request to the cloud to obtain the subscription list, and directly sends data to the cloud.
  • the cloud searches the subscription list according to the identification information of the base station to determine whether to forward the data.
  • the base station can also report the current working status of the base station to the cloud.
  • the base station can also report the current working status to the cloud at a certain frequency (second frequency).
  • the first frequency and the second frequency may be the same or different, which is not limited in the present disclosure, and the start time of the first frequency and the second frequency may also be the same or different.
  • the base station can report the current working status to the cloud via the Internet.
  • the base station If the base station is abnormal, such as power failure, damage, upgrade, etc., when the abnormality occurs, the base station cannot send data packets to the mobile station it serves, nor can it report the current working status to the cloud, or the movement of the base station to its service The station continuously sends error data messages.
  • the cloud can search for and determine the mobile station served by the abnormal base station (called the mobile station disconnected), for example .
  • the mobile station disconnected You can search by looking up the above entries, and reset the base station that can provide services normally for the disconnected mobile station. For example, you can reset the disconnected network according to the location information of the abnormal base station and the current location information of the disconnected mobile station.
  • the mobile station sets up a base station that can provide services normally.
  • the serving base station of the disconnected mobile station can be switched to the base station closest to the abnormal base station.
  • the base station closest to the disconnected mobile station may be re-determined based on the latest location information of the disconnected mobile station and the locally stored position information of the base station in the waiting state.
  • the above-mentioned preset time period may be a preset time period of a certain length, for example, the length of the predetermined time period may be related to the first frequency or the second frequency.
  • the base station can set the length of the predetermined period of time according to the first frequency.
  • the length of the predetermined period of time can be greater than the length of the period corresponding to the first frequency.
  • the base station can set the length of the predetermined time period according to the second frequency and/or the first frequency.
  • the length of the predetermined time period can be set according to the second frequency.
  • the length of the preset time period is set to be greater than the length of the period corresponding to the second frequency.
  • Fig. 3 shows a flowchart of a base station handover method according to another embodiment of the present disclosure.
  • Fig. 4 shows a schematic diagram of an application scenario according to an example of the present disclosure. The base station handover method of the present disclosure will be described with reference to FIG. 3 and FIG. 4.
  • the position information of the current location of the base station can be obtained from a satellite (for example, GPS).
  • the base station can send a registration request to the cloud, and the registration request can carry the identification information and location information of the base station.
  • the cloud receives the registration request, it can store the identification information and location information of the base station in the cloud database.
  • storage may be in the form of a table (base station equipment information table), and one table entry records the identification information and location information of a base station.
  • the device information of the mobile station served by the base station that is, a subscription list, for example, the identification information and location information of the mobile station, can also be recorded in the above table entry.
  • the device information of the mobile station that is stored in the device information entry of the base station as described above, and the device information of the mobile station that is stored in the device information entry of the mobile station is stored in the device information entry of the mobile station may not be used.
  • the device information of the base station is used to record the correspondence between the base station and the mobile station.
  • a special base station-mobile station correspondence table can be established to record the service relationship between the base station and the mobile station.
  • This application also provides a base station handover method, which is applied to a mobile station.
  • the base station handover method of this application may include the following steps:
  • the mobile station After acquiring its real-time location, the mobile station sends an acquisition request to the cloud.
  • the acquisition request is used to acquire the first base station that provides services to the mobile station, and the acquisition request carries the real-time location;
  • the first base station is the base station closest to the mobile station and the mobile station is within the service range of the first base station, or the first base station
  • the base station is one of one or more base stations within a certain distance from the mobile station;
  • the confirmation message of subscribing to the first base station is fed back to the cloud to subscribe to the first base station.
  • the above-mentioned acquisition of the real-time position of the mobile station by the mobile station may refer to the acquisition of the real-time position of the mobile station after the mobile station is turned on, or it may mean that the mobile station performs real-time position update based on the data issued by the first base station.
  • the real-time location of the mobile station In other words, the acquisition request carries the real-time location of the mobile station, or called the current location, which is not limited in this application.
  • Subscribing to the first base station may include: feeding back a confirmation message for subscribing to the first base station to the cloud, and switching the service to the first base station.
  • the base station handover method of the present application may further include the following steps:
  • the first base station determines the first base station that provides services to the mobile station, where the first base station may be the closest to the mobile station and the mobile station is within the service range of the first base station Alternatively, the first base station may also be one of one or more base stations within a certain distance from the mobile station.
  • feeding back a confirmation message for subscribing to the first base station to the cloud according to the identification information, and subscribing to the first base station may include: sending a confirmation request to the cloud to confirm whether the first base station is available according to the identification information of the first base station; If the result of the cloud feedback to the mobile station indicates that the first base station is available, the service is switched to the first base station.
  • the mobile station may periodically send a request for obtaining base station information to the cloud to obtain the location information of all registered base stations.
  • the mobile station can also determine whether the base station closest to the mobile station is currently moving according to the real-time position information of the mobile station and the position information in the equipment information of the base station after receiving the equipment information of the base station. The base station that the station provides service, if not, subscribes to the data published by the nearest base station currently determined.
  • the mobile station can re-determine the first base station according to the real-time location of the mobile station and the location information of the base station. After re-determining the first base station, it can determine whether the re-determined first base station is the current direction.
  • the base station handover method of the present application may further include the following steps:
  • the first base station that provides the service
  • real-time positioning is performed based on the new data to obtain the real-time position; send an acquisition request to the cloud or obtain all registered data from the cloud
  • the location information of the base station is used to re-determine the base station closest to the mobile station based on the real-time location and the location information of the base station.
  • the base station handover method of this application may include the following steps:
  • the first base station that provides services to the mobile station is determined.
  • the first base station may be the base station closest to the mobile station, and the mobile station serves the first base station Within a range, or the first base station is one of one or more base stations within a certain distance range from the mobile station;
  • the cloud may also determine Whether the first base station is the base station currently providing services to the mobile station; if not, send the identification information of the first base station to the mobile station so that the mobile station will switch the service to the first base station. If so, it may not be processed.
  • determining the first base station that provides services to the mobile station according to the real-time location of the mobile station and the location information of the base station stored locally in the cloud may include:
  • one or more base stations within a certain distance from the mobile station are determined, and the mobile station is within the service range of the one or more base stations;
  • One of the one or more base stations is determined as the first base station that provides services to the mobile station.
  • the cloud determines one or more base stations within a certain range from the mobile station, but the mobile station is not within the service range of the one or more base stations, switch to the network RTK mode and become the mobile station Calculate the virtual base station.
  • the result of the availability of the first base station is fed back to the mobile station, so that the mobile station will subscribe to the first base station.
  • the base station handover method of this embodiment may further include the following steps: if an abnormal base station is detected in the cloud, determining a second base station that provides services to the mobile station served by the abnormal base station, and the second base station The second base station is the base station closest to the abnormal base station, or the second base station is the base station closest to the mobile station served by the abnormal base station.
  • the identification information of the second base station is sent to the mobile station served by the abnormal base station, so that the mobile station served by the abnormal base station subscribes to the second base station.
  • the mobile station (such as a lawn mower) is turned on, and the mobile station obtains its own position information (real-time position) after it is turned on.
  • the specific method for the mobile station to obtain its own location information can be implemented according to a related algorithm, which is not limited in the present disclosure.
  • the mobile station After the mobile station obtains its own location information, it can send to the cloud an obtaining request for obtaining the information of the base station closest to the current location, and the obtaining request carries the location information of the mobile station.
  • the cloud receives the acquisition request, it determines the first base station closest to the mobile station according to the location information of the mobile station and the location information of the base station stored locally in the cloud, and the mobile station places the first base station within the service range of the first base station.
  • the base station is determined as a base station that provides services to the mobile station.
  • the cloud can determine one or more base stations within a certain distance from the mobile station according to the location information of the mobile station and the location information of the base stations stored locally in the cloud, and the mobile station is within the service range of the one or more base stations, After that, the cloud can determine a base station from the one or more base stations as a base station that provides services to the mobile station. Specifically, the cloud can determine from the one or more base stations a base station that is currently in a normal working state as a base station. The base station that provides services to the mobile station can also be arbitrarily selected, or one can be selected in other ways, which is not limited in the present disclosure. After that, the cloud can send the identification information of the base station that provides services to the mobile station to the mobile station.
  • the cloud can further confirm whether the base station is currently in a normal working state before sending to the mobile station the identification information of the base station that provides services to the mobile station. If the base station is in a normal working state, it will send a message to the mobile station. The identification information of the base station that provides the service.
  • the mobile station After the mobile station receives the identification information of the base station that provides services to the mobile station, it can subscribe to the data published by the base station and feed back a confirmation message to the cloud.
  • the cloud After receiving the confirmation message fed back by the mobile station, the cloud can record the service relationship between the first base station and the mobile station in the base station-mobile station correspondence table, or can update the base station equipment information table and the mobile station equipment information table Corresponding entries are used to record the service relationship. For example, the device information of the mobile station is recorded in the entry of the first base station, the device information of the first base station is recorded in the entry of the mobile station, and so on.
  • the cloud can determine the mobile station served by the base station, and re-determine the base station that provides the service for the mobile station.
  • the cloud receives the data packet sent by the base station, and it can search for the mobile station served by the base station according to the identification information of the base station whether there is a mobile station that matches the identification information of the mobile station carried in the data packet.
  • the data message is forwarded to the mobile station that matches the identification information of the mobile station carried in the data message.
  • the service range of a base station may refer to that the base station can provide services to mobile stations located within the service range, and the service range of a base station may refer to a geographical distance range.
  • the service range of the base station is exemplarily drawn around each base station.
  • the service range of the base station can be a circular geographic range with the base station as the center. It may be related to the power of the base station, etc., which is not limited in the present disclosure.
  • the base station can also register the service range of the base station during registration, and the cloud can record the service range of the base station in the base station equipment information table. Therefore, when determining the serving base station for the mobile station, it can be determined whether the mobile station is located within the service range of the base station according to the recorded service range of the base station and the location information of the mobile station.
  • the mobile station can perform real-time positioning according to the data released by the subscribed base station, and update the position information of the mobile station.
  • the specific positioning process can be implemented according to related algorithms, which is not limited in the present disclosure.
  • the mobile station receives the data released from the base station at a certain frequency, and judges whether the data is received at the predetermined time. If no new data is received within the predetermined time period after the last data received, it can send the base station information to the cloud to obtain Request, the base station information acquisition request can carry the location information of the latest located mobile station. After the cloud receives the base station information acquisition request, it can determine the base station closest to the mobile station based on the location information of the newly located mobile station and the location information of the base station stored in the cloud, and send the identification information of the nearest base station to the mobile station.
  • the station After receiving the identification information of the nearest base station, the station can subscribe to the data released by the base station; or, the cloud can determine the one within a certain distance from the mobile station based on the latest location information and the location information of the base station stored locally in the cloud. Or multiple base stations, and the mobile station is within the service range of the one or more base stations. After that, the cloud can determine a base station from the one or more base stations as the base station that provides services to the mobile station, for example, it can be selected arbitrarily One, after that, the cloud can send to the mobile station the identification information of the base station that provides services to the mobile station. After receiving the identification information of the base station that provides services to the mobile station, the mobile station can subscribe to the data published by the base station.
  • the real-time location information of the mobile station can be sent to the cloud again. It should be noted that the mobile station may not receive the data within the predetermined period of time every time it judges and send the real-time location to the cloud. Information, real-time location information can also be sent to the cloud at a certain frequency. For example, the period of sending real-time location information can be set, and the real-time location information can be sent to the cloud periodically.
  • the cloud can re-determine a base station closest to the mobile station or one or more base stations within a certain distance from the mobile station based on the real-time location information and the location information of the base stations stored locally in the cloud. Determine whether a newly determined base station closest to the mobile station is the base station currently serving the mobile station. If it is, it may not be processed.
  • the newly determined identification information of the nearest base station may be sent to the mobile station; or judged Whether one or more base stations within a certain distance from the mobile station includes the base station that currently provides services to the mobile station, if so, you can leave it alone, if not, you can re-determine from one or more base stations within a certain distance from the mobile station A base station serving the mobile station and sending the re-determined identification information of the base station serving the mobile station to the mobile station.
  • the mobile station After receiving the newly determined identification information of the nearest base station or the newly determined identification information of the base station serving the mobile station, the mobile station can subscribe to the data published by the base station.
  • the mobile station may also send a request for obtaining base station information to the cloud at a certain frequency (periodically), and the cloud may send the locally stored equipment information of the base station to the mobile station after receiving the request.
  • the period can also be preset. For details, refer to the content of sending real-time location information to the cloud.
  • the mobile station After receiving the equipment information of the base station, the mobile station can judge whether the base station closest to the mobile station is the base station currently serving the mobile station according to the real-time position information of the mobile station and the position information of the base station. , You can subscribe to the data published by the nearest base station currently determined.
  • the cloud determines the base station closest to the mobile station, but the mobile station is not within the service range of the base station closest to the mobile station, or if the cloud determines one or more base stations within a certain range from the mobile station, However, the mobile station is not within the service range of the one or more base stations. At this time, as shown in FIG. 3, it can switch to the network RTK mode to calculate the virtual base station for the mobile station.
  • mobile station C is not located within the service range of any base station.
  • the cloud can calculate virtual base stations for mobile station C.
  • the virtual base station is calculated by the base station near the mobile station, and the virtual base station is used to provide the mobile station with the positioning service.
  • the mobile station can provide accurate, Uninterrupted location service.
  • the mobile station obtains its own location information, it obtains the location information of all registered base stations from the cloud.
  • the mobile station determines the first base station closest to itself according to its own location information and the location information of the base station, and determines the first base station as a base station that provides services to itself within the service range of the first base station.
  • the mobile station can determine one or more base stations within a certain distance from itself based on its own location information and the location information of the base station, and it is within the service range of the one or more base stations.
  • One of the one or more base stations is determined as a base station that provides services to the base station. For example, one base station can be selected arbitrarily. After that, the mobile station confirms to the cloud whether the base station is available.
  • the base station is available means that the base station is currently working and there is no abnormality. If the result of the cloud feedback to the mobile station indicates that the base station is available, the mobile station subscribes to the data released by the first base station , That is, the mobile station switches the serving base station to the first base station.
  • the mobile station can perform real-time positioning according to the data released by the subscribed base station, and update the position information of the mobile station.
  • the specific positioning process can be implemented according to related algorithms, which is not limited in the present disclosure.
  • the mobile station receives the data released from the base station at a certain frequency and judges whether it has received the data at a predetermined time. If no new data is received within the predetermined time period after the last data received, the mobile station will locate its own position according to the latest location.
  • Information and the location information of all registered base stations obtained from the cloud determine the current base station closest to the mobile station itself, then the mobile station can subscribe to the data released by the base station; or, the mobile station can base on the latest location information of its own location and from the cloud Obtain the location information of all registered base stations, determine one or more base stations that are currently within a certain distance from the mobile station itself, and the mobile station is within the service range of the one or more base stations. Or a base station is determined among multiple base stations as a base station that provides services to itself, for example, one can be selected arbitrarily, and then the mobile station can subscribe to the data published by the base station.
  • the mobile station can re-determine a base station closest to the mobile station or one or more base stations within a certain distance from the mobile station based on its real-time location information and the location information of all base stations obtained from the cloud.
  • Base station Determine whether a newly determined base station closest to the mobile station is the base station currently serving the mobile station. If it is, it may not be processed. If not, the mobile station subscribes to the data released by the newly determined nearest base station, that is, the mobile station will serve The base station is switched from the first base station to the re-determined nearest base station; or, it is judged whether one or more base stations within a certain distance from the mobile station include the base station that currently provides services to the mobile station.
  • the first base station is switched to the newly determined base station serving the mobile station.
  • the mobile station can confirm to the cloud the re-determined nearest base station or the base station serving the mobile station Whether it is available, the base station is available refers to the base station is currently in working state and there is no abnormality, that is, the normal working state, if the result of the cloud feedback to the mobile station indicates that the base station is available, the mobile station performs the above handover steps.
  • the present disclosure also provides a positioning system.
  • the system includes a cloud server, a mobile station, and a base station.
  • the cloud server forwards data sent by the base station to the mobile station to the mobile station, and the mobile station performs positioning according to the data;
  • the cloud server determines that the base station is an abnormal base station if it does not receive the data sent by the base station or the reported status information within a predetermined period of time after the last time it received the data sent by the base station or the status information reported;
  • the subscription list of the abnormal base station; the cloud server switches the serving base station of the mobile station in the subscription list from the abnormal base station to the base station closest to the abnormal base station.
  • the present disclosure also provides a base station switching device, including: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured to implement the above-mentioned method when executing the instructions.
  • the present disclosure also provides a non-volatile computer-readable storage medium on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the method described above is implemented.
  • Fig. 5 is a block diagram showing a device 800 for base station handover according to an exemplary embodiment.
  • the device 800 may be a lawn mower robot, a mobile phone, a computer, a digital broadcasting terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, and the like.
  • the device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, And the communication component 816.
  • the processing component 802 generally controls the overall operations of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • the processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the foregoing method.
  • the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components.
  • the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.
  • the memory 804 is configured to store various types of data to support the operation of the device 800. Examples of such data include instructions for any application or method operating on the device 800, contact data, phone book data, messages, pictures, videos, etc.
  • the memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable and Programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EPROM erasable and Programmable read only memory
  • PROM programmable read only memory
  • ROM read only memory
  • magnetic memory flash memory
  • flash memory magnetic disk or optical disk.
  • the power supply component 806 provides power for various components of the device 800.
  • the power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 800.
  • the multimedia component 808 includes a screen that provides an output interface between the device 800 and the user.
  • 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 input signals from the user.
  • the touch panel includes one or more touch sensors to sense touch, sliding, 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 related to the touch or slide operation.
  • the multimedia component 808 includes a front camera and/or a rear camera. When the device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 810 is configured to output and/or input audio signals.
  • the audio component 810 includes a microphone (MIC), and when the device 800 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive external audio signals.
  • the received audio signal may be further stored in the memory 804 or transmitted via the communication component 816.
  • the audio component 810 further includes a speaker for outputting audio signals.
  • the I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module.
  • the above-mentioned peripheral interface module may be a keyboard, a click wheel, a button, and the like. These buttons may include, but are not limited to: home button, volume button, start button, and lock button.
  • the sensor component 814 includes one or more sensors for providing the device 800 with various aspects of status assessment.
  • the sensor component 814 can detect the open/close state of the device 800 and the relative positioning of the components.
  • the component is the display and the keypad of the device 800.
  • the sensor component 814 can also detect the position change of the device 800 or a component of the device 800. , The presence or absence of contact between the user and the device 800, the orientation or acceleration/deceleration of the device 800, and the temperature change of the device 800.
  • the sensor component 814 may include a proximity sensor configured to detect the presence of nearby objects when there is no physical contact.
  • the sensor component 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor component 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • the communication component 816 is configured to facilitate wired or wireless communication between the device 800 and other devices.
  • the device 800 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof.
  • the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component 816 further includes a near field communication (NFC) module to facilitate short-range communication.
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • the apparatus 800 may be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing equipment (DSPD), programmable logic devices (PLD), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.
  • ASIC application specific integrated circuits
  • DSP digital signal processors
  • DSPD digital signal processing equipment
  • PLD programmable logic devices
  • FPGA field programmable A gate array
  • controller microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.
  • a non-volatile computer-readable storage medium such as a memory 804 including computer program instructions, which can be executed by the processor 820 of the device 800 to complete the foregoing method.
  • Fig. 6 is a block diagram showing a device 1900 for base station handover according to an exemplary embodiment.
  • the device 1900 may be provided as a server. 6
  • the apparatus 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by the memory 1932, for storing instructions executable by the processing component 1922, such as application programs.
  • the application program stored in the memory 1932 may include one or more modules each corresponding to a set of instructions.
  • the processing component 1922 is configured to execute instructions to perform the above-described methods.
  • the device 1900 may also include a power component 1926 configured to perform power management of the device 1900, a wired or wireless network interface 1950 configured to connect the device 1900 to a network, and an input output (I/O) interface 1958.
  • the device 1900 can operate based on an operating system stored in the memory 1932, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM or the like.
  • a non-volatile computer-readable storage medium such as the memory 1932 including computer program instructions, which can be executed by the processing component 1922 of the device 1900 to complete the foregoing method.
  • the present disclosure may be a system, method and/or computer program product.
  • the computer program product may include a computer-readable storage medium loaded with computer-readable program instructions for enabling 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 instructions used by the instruction execution device.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Non-exhaustive list of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) Or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a printer with instructions stored thereon
  • RAM random access memory
  • ROM read-only memory
  • EPROM erasable programmable read-only memory
  • flash memory flash memory
  • SRAM static random access memory
  • CD-ROM compact disk read-only memory
  • DVD digital versatile disk
  • memory stick floppy disk
  • mechanical encoding device such as a printer with instructions stored thereon
  • the computer-readable storage medium used here is not interpreted as the instantaneous signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (for example, light pulses through fiber optic cables), or through wires Transmission of electrical signals.
  • the computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing/processing devices, or downloaded 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, optical fiber 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 the computer-readable storage medium in each computing/processing device .
  • the computer program instructions used to perform the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or in one or more programming languages.
  • Source code or object code written in any combination, the programming language includes object-oriented programming languages-such as Smalltalk, C++, etc., and conventional procedural programming languages-such as "C" language or similar programming languages.
  • Computer-readable program instructions can be executed entirely on the user's computer, partly on the user's computer, executed as a stand-alone software package, partly on the user's computer and partly executed on a remote computer, or entirely on the remote computer or server carried out.
  • the remote computer can be connected to the user's computer through any kind of network-including a local area network (LAN) or a wide area network (WAN)-or it can be connected to an external computer (for example, using an Internet service provider to connect to the user's computer). connection).
  • an electronic circuit such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), can be customized by using the status information of the computer-readable program instructions.
  • the computer-readable program instructions are executed to realize various aspects of the present disclosure.
  • These computer-readable program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine that makes these instructions when executed by the processor of the computer or other programmable data processing device , A device that implements the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams is produced. It is also possible to store these computer-readable program instructions in a computer-readable storage medium. These instructions make computers, programmable data processing apparatuses, and/or other devices work in a specific manner. Thus, the computer-readable medium storing the instructions includes An article of manufacture, which includes instructions for implementing various aspects of the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.
  • each block in the flowchart or block diagram may represent a module, program segment, or part of an instruction, and the module, program segment, or part of an instruction contains one or more components for realizing the specified logical function.
  • Executable instructions may also occur in a different order than the order marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved.
  • each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart can be implemented by a dedicated hardware-based system that performs the specified functions or actions Or it can be realized by a combination of dedicated hardware and computer instructions.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The present disclosure relates to a base station switching method, an apparatus, and a readable storage medium. When a mobile station can be served by multiple base stations, the base station switching method according to embodiments of the disclosure allows the mobile station to acquire, from the cloud, a base station closest to the current location and to switch to said base station, thus improving positioning accuracy during the operation of the mobile station. Moreover, if a base station is in an abnormal state, the method allows a mobile station served by the abnormal base station to quickly switch to a normal base station, thus achieving uninterrupted, high-precision positioning.

Description

基站切换方法、装置以及可读存储介质Base station switching method, device and readable storage medium
本申请要求了申请日为2019年09月30日，申请号为201910940815.0的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application whose application date is September 30, 2019 and the application number is 201910940815.0, the entire content of which is incorporated into this application by reference.
技术领域Technical field
本公开涉及通信技术领域，尤其涉及一种基站切换方法、装置以及可读存储介质。The present disclosure relates to the field of communication technologies, and in particular, to a base station handover method, device, and readable storage medium.
背景技术Background technique
采用RTK(Real-time kinematic，实时动态)基站对用户设备进行定位是一种常用的卫星定位测量方法，以前的静态、快速静态、动态测量都需要事后进行解算才能获得厘米级的精度，而采用RTK基站定位是能够在野外实时得到厘米级定位精度的测量方法，它采用了载波相位动态实时差分方法，是GPS应用的重大里程碑，它的出现为工程放样、地形测图，各种控制测量带来了新的测量原理和方法，极大地提高了作业效率。Using RTK (Real-time kinematic, real-time dynamic) base station to locate user equipment is a commonly used satellite positioning measurement method. The previous static, fast static, and dynamic measurements need to be solved after the fact to obtain centimeter-level accuracy. The use of RTK base station positioning is a measurement method that can obtain centimeter-level positioning accuracy in real time in the field. It uses the carrier phase dynamic real-time differential method. It is a major milestone in GPS application. Its emergence is engineering stakeout, topographic mapping, and various control measurements. Brings new measurement principles and methods, greatly improving work efficiency.
基于单基站的RTK定位技术，当RTK基站作为一个共享设备，为多个移动站提供服务时，工作过程中，会出现因断电、损坏、升级等原因导致基站失效，基站失效后移动站无法进行高精度定位、定位错误等。当移动站距离基站太远时，会导致定位误差变大。Based on the RTK positioning technology of a single base station, when the RTK base station serves as a shared device to provide services for multiple mobile stations, the base station will fail due to power outages, damage, upgrades, etc., and the mobile station will fail after the base station fails. Perform high-precision positioning, positioning errors, etc. When the mobile station is too far away from the base station, the positioning error will increase.
在一示例的场景中，相关技术中，割草机器人利用通信网络的基站提供的定位服务进行定位，实现对工作区的精确控制，在实际的应用中，对定位的精度要求较高。但是，如果基站出现如上所述的因断电、损坏、升级等原因导致基站失效，使得割草机器人定位出现异常，无线进行高精度定位或者定位错误，导致工作的错误。In an example scenario, in the related technology, the lawn mower robot uses the positioning service provided by the base station of the communication network to perform positioning to achieve precise control of the work area. In actual applications, the positioning accuracy is relatively high. However, if the base station fails due to power failure, damage, upgrade, etc., as described above, abnormal positioning of the lawn mower robot occurs, high-precision wireless positioning or positioning error occurs, resulting in work errors.
发明内容Summary of the invention
有鉴于此，本公开提出了一种基站切换方法及装置。在多个基站为移动站服务的情况下，本公开实施例的基站切换方法可以使移动站从云端获取距离当前位置最近的基站，并切换到该基站上，以提高移动站工作过程中的定位精度。另外，当基站出现异常时，也可以为异常基站服务的移动站快速切换到正常的基站上，实现不间断、高精度的定位。In view of this, the present disclosure proposes a base station handover method and device. In the case that multiple base stations serve the mobile station, the base station switching method of the embodiments of the present disclosure can enable the mobile station to obtain the base station closest to the current location from the cloud, and switch to the base station, so as to improve the positioning of the mobile station during operation. Accuracy. In addition, when the base station is abnormal, the mobile station serving the abnormal base station can also be quickly switched to the normal base station to achieve uninterrupted, high-precision positioning.
第一方面，提供了一种基站切换方法，所述方法应用于移动站，所述方法包括：In a first aspect, a base station handover method is provided, the method is applied to a mobile station, and the method includes:
移动站获取自身的实时位置后，向云端发送获取请求；其中，获取请求用于获取向移动站提供服务的第一基站，获取请求中携带有移动站的实时位置；所述第一基站为距 离移动站最近的基站、并且移动站在第一基站的服务范围内；After acquiring its real-time location, the mobile station sends an acquisition request to the cloud; wherein the acquisition request is used to acquire the first base station that provides services to the mobile station, and the acquisition request carries the real-time location of the mobile station; the first base station is the distance The nearest base station of the mobile station, and the mobile station is within the service range of the first base station;
接收云端响应于所述获取请求返回第一基站的标识信息；Receiving the identification information of the first base station returned by the cloud in response to the obtaining request;
根据所述标识信息向云端反馈订阅第一基站的确认消息，订阅所述第一基站。According to the identification information, the confirmation message of subscribing to the first base station is fed back to the cloud to subscribe to the first base station.
结合第一方面，在第一种可能的实现方式中，所述第一基站为距离移动站一定距离范围的一个或多个基站中的一个基站。With reference to the first aspect, in a first possible implementation manner, the first base station is one of one or more base stations within a certain distance range from the mobile station.
在一种可能的实现方式中，所述方法还包括：In a possible implementation manner, the method further includes:
从云端获取注册过的所有基站的位置信息；Obtain the location information of all registered base stations from the cloud;
移动站根据自身的实时信息以及基站的位置信息，确定向移动站提供服务的第一基站。The mobile station determines the first base station that provides services to the mobile station based on its own real-time information and the location information of the base station.
在一种可能的实现方式中，根据所述标识信息向云端反馈订阅第一基站的确认消息，订阅所述第一基站，包括：In a possible implementation manner, feeding back a confirmation message for subscribing to the first base station to the cloud according to the identification information, and subscribing to the first base station includes:
根据第一基站的标识信息向云端发送确认第一基站是否可用的确认请求；Sending a confirmation request to the cloud according to the identification information of the first base station to confirm whether the first base station is available;
如果云端向移动站反馈的结果表明第一基站可用，则将服务切换到第一基站上。If the result of the cloud feedback to the mobile station indicates that the first base station is available, the service is switched to the first base station.
在一种可能的实现方式中，所述方法还包括：In a possible implementation manner, the method further includes:
在接收到基站的位置信息后，根据移动站的实时位置和基站的位置信息判断距离移动站最近的基站是否为当前向移动站提供服务的基站，若不是，则订阅距离移动站最近的基站发布的数据。After receiving the location information of the base station, according to the real-time location of the mobile station and the location information of the base station, determine whether the base station closest to the mobile station is the base station currently serving the mobile station. If not, subscribe to the announcement of the base station closest to the mobile station. The data.
在一种可能的实现方式中，所述方法还包括：In a possible implementation manner, the method further includes:
若在距离最近一次接收到第一基站发布的数据之后的预定时间段内未接收到新的数据，向云端发送获取请求或者从云端获取注册过的所有基站的位置信息，以重新确定距离移动站最近的基站。If no new data is received within a predetermined period of time after the most recent reception of the data issued by the first base station, send an acquisition request to the cloud or obtain the location information of all registered base stations from the cloud to re-determine the distance to the mobile station The nearest base station.
在一种可能的实现方式中，所述方法还包括：In a possible implementation manner, the method further includes:
若在距离最近一次接收到第一基站发布的数据之后的预定时间段内接收到新的数据，根据新的数据进行实时的定位得到实时位置；If new data is received within a predetermined time period after the last time the data issued by the first base station is received, real-time positioning is performed according to the new data to obtain the real-time position;
向云端发送获取请求或者从云端获取注册过的所有基站的位置信息，以根据所述实时位置和基站的位置信息重新确定距离移动站最近的基站。Send an acquisition request to the cloud or acquire the location information of all registered base stations from the cloud, so as to re-determine the base station closest to the mobile station according to the real-time location and the location information of the base station.
在一种可能的实现方式中，移动站获取自身的实时位置可以是指，移动站开机时获 取自身的实时位置，或者，移动站根据第一基站发布的数据进行实时的定位更新的移动站的实时位置。In a possible implementation, the mobile station acquiring its real-time position may refer to acquiring its real-time position when the mobile station is turned on, or the mobile station performs real-time positioning update based on the data issued by the first base station. Real-time location.
第二方面，提供了一种基站切换方法，所述方法应用于云端，所述方法包括：In a second aspect, a base station handover method is provided, the method is applied to the cloud, and the method includes:
接收移动站发送的获取请求，其中，获取请求中携带有移动站的实时位置；Receiving an acquisition request sent by a mobile station, where the acquisition request carries the real-time location of the mobile station;
根据移动站的实时位置以及云端本地存储的基站的位置信息，确定向移动站提供服务的第一基站，所述第一基站为距离移动站最近的基站、并且移动站在第一基站的服务范围内；According to the real-time location of the mobile station and the location information of the base station stored locally in the cloud, the first base station that provides services to the mobile station is determined. The first base station is the base station closest to the mobile station and the service range of the first base station of the mobile station Inside;
向移动站发送第一基站的标识信息；Sending the identification information of the first base station to the mobile station;
接收移动站发送的订阅第一基站的确认消息，记录第一基站和所述移动站之间的服务关系。Receive a confirmation message for subscribing to the first base station sent by the mobile station, and record the service relationship between the first base station and the mobile station.
在一种可能的实现方式中，所述第一基站为距离移动站一定距离范围的一个或多个基站中的一个基站。In a possible implementation manner, the first base station is one of one or more base stations within a certain distance range from the mobile station.
在一种可能的实现方式中，所述方法还包括：In a possible implementation manner, the method further includes:
向移动站发送本地存储的基站的位置信息，以使移动站根据移动站自身的实时位置以及基站的位置信息，确定向移动站提供服务的第一基站。The locally stored location information of the base station is sent to the mobile station, so that the mobile station determines the first base station that provides service to the mobile station based on the real-time location of the mobile station itself and the location information of the base station.
在一种可能的实现方式中，所述方法还包括：In a possible implementation manner, the method further includes:
接收移动站发送的确认第一基站是否可用的确认请求；Receiving a confirmation request sent by the mobile station to confirm whether the first base station is available;
向移动站反馈第一基站可用的结果，以使移动站将服务切换到第一基站上。The result that the first base station is available is fed back to the mobile station, so that the mobile station switches the service to the first base station.
在一种可能的实现方式中，向移动站发送第一基站的标识信息，包括：In a possible implementation manner, sending the identification information of the first base station to the mobile station includes:
判断第一基站是否为当前向移动站提供服务的基站；Judging whether the first base station is a base station currently providing services to the mobile station;
若不是，向移动站发送第一基站的标识信息。If not, send the identification information of the first base station to the mobile station.
在一种可能的实现方式中，根据移动站的实时位置以及云端本地存储的基站的位置信息，确定向移动站提供服务的第一基站，In a possible implementation manner, according to the real-time location of the mobile station and the location information of the base station stored locally in the cloud, the first base station that provides the service to the mobile station is determined,
根据移动站的实时位置以及云端本地存储的基站的位置信息，确定距离移动站一定距离范围内的一个或者多个基站，并且移动站在所述一个或多个基站的服务范围内；According to the real-time location of the mobile station and the location information of the base station stored locally in the cloud, determine one or more base stations within a certain distance from the mobile station, and the mobile station is within the service range of the one or more base stations;
云端从所述一个或多个基站中确定出一个基站作为向所述移动站提供服务的基站。The cloud determines a base station from the one or more base stations as a base station that provides services to the mobile station.
在一种可能的实现方式中，根据移动站的实时位置以及云端本地存储的基站的位置 信息，确定向移动站提供服务的第一基站，还包括：In a possible implementation manner, according to the real-time location of the mobile station and the location information of the base station stored locally in the cloud, determining the first base station that provides services to the mobile station further includes:
判断所述一个或多个基站是否包括当前向移动站提供服务的基站；Judging whether the one or more base stations include a base station that currently provides services to the mobile station;
若不包括，则从所述一个或多个基站重新确定一个向移动站提供服务的基站。If it is not included, a base station that provides services to the mobile station is re-determined from the one or more base stations.
在一种可能的实现方式中，所述方法还包括：In a possible implementation manner, the method further includes:
若云端确定出距离移动站一定范围的一个或多个基站或者确定出距离移动站最近的基站，但是移动站不在所述一个或多个基站或者确定出距离移动站最近的基站的服务范围内，切换至网络RTK模式，为移动站计算虚拟基站。If the cloud determines one or more base stations within a certain range from the mobile station or determines the base station closest to the mobile station, but the mobile station is not within the service range of the one or more base stations or the base station closest to the mobile station is determined, Switch to network RTK mode to calculate the virtual base station for the mobile station.
在一种可能的实现方式中，若云端检测到异常基站，则确定向所述异常基站服务的移动站提供服务的第二基站，所述第二基站为距离所述异常基站最近的基站，或者，所述第二基站为距离所述异常基站服务的移动站最近的基站。In a possible implementation manner, if an abnormal base station is detected in the cloud, a second base station that provides services to the mobile station served by the abnormal base station is determined, and the second base station is the base station closest to the abnormal base station, or The second base station is the base station closest to the mobile station served by the abnormal base station.
向所述异常基站服务的移动站发送第二基站的标识信息，以使所述异常基站服务的移动站订阅所述第二基站。The identification information of the second base station is sent to the mobile station served by the abnormal base station, so that the mobile station served by the abnormal base station subscribes to the second base station.
根据本公开的一方面，提供了一种基站切换方法，所述方法应用于服务器，所述方法包括：According to an aspect of the present disclosure, a base station handover method is provided, the method is applied to a server, and the method includes:
在接收到移动站发送的服务请求时，解析所述服务请求获取移动站的第一位置信息；When receiving the service request sent by the mobile station, parse the service request to obtain the first location information of the mobile station;
根据移动站的第一位置信息以及本地存储的基站的位置信息，确定能够为所述移动站服务的一个或多个第一基站；Determine one or more first base stations that can serve the mobile station according to the first location information of the mobile station and the location information of the base stations stored locally;
将一个或多个第一基站中的一个第一基站的标识信息发送给移动站，以使移动站将服务基站切换到所述一个第一基站；Sending the identification information of one of the one or more first base stations to the mobile station, so that the mobile station switches the serving base station to the one first base station;
更新该一个第一基站与所述移动站的订阅关系。Update the subscription relationship between the one first base station and the mobile station.
在一种可能的实现方式中，所述方法还包括：In a possible implementation manner, the method further includes:
在接收到移动站发送的获取请求时，解析所述获取请求获得移动站的第二位置信息；When receiving the acquisition request sent by the mobile station, parse the acquisition request to obtain the second location information of the mobile station;
根据移动站的第二位置信息以及本地存储的基站的位置信息，确定距离所述第二位置信息表示的位置预定距离范围内的第二基站；Determine, according to the second location information of the mobile station and the location information of the base station stored locally, a second base station within a predetermined distance from the location indicated by the second location information;
将所述第二基站的设备信息发送给移动站，所述设备信息包括标识信息以及位置信息，以使移动站根据所述第二基站的位置信息以及第二位置信息确定切换的第三基站以及第三基站的标识信息。The device information of the second base station is sent to the mobile station, the device information includes identification information and location information, so that the mobile station determines the third base station to be handed over according to the location information of the second base station and the second location information, and Identification information of the third base station.
在一种可能的实现方式中，所述方法还包括：In a possible implementation manner, the method further includes:
接收所述移动站发送的订阅请求，所述订阅请求携带有第三基站的标识信息以及移动站的标识信息；Receiving a subscription request sent by the mobile station, where the subscription request carries the identification information of the third base station and the identification information of the mobile station;
根据所述移动站的标识信息以及所述第三基站的标识信息更新所述移动站和第三基站的订阅关系。Update the subscription relationship between the mobile station and the third base station according to the identification information of the mobile station and the identification information of the third base station.
在一种可能的实现方式中，所述方法还包括：In a possible implementation manner, the method further includes:
在距离最近一次接收到基站发送的数据或者上报的状态信息之后预定时间段内，若未接收到基站发送的数据或者上报的状态信息，则确定所述基站为异常基站；If within a predetermined period of time after the most recent reception of the data sent by the base station or the reported status information, if the data sent by the base station or the reported status information is not received, it is determined that the base station is an abnormal base station;
获取异常基站的订阅列表；Obtain the subscription list of the abnormal base station;
将订阅列表中的移动站的服务基站从所述异常基站切换到距离所述异常基站最近的基站。The serving base station of the mobile station in the subscription list is switched from the abnormal base station to the base station closest to the abnormal base station.
在一种可能的实现方式中，所述方法还包括：In a possible implementation manner, the method further includes:
接收所述一个第一基站发送的数据报文；所述数据报文携带有移动站的标识信息；Receiving a data message sent by the one first base station; the data message carries identification information of the mobile station;
解析所述数据报文获取数据，并根据移动站的标识信息确定对应的移动站，将所述数据转发到所述移动站。The data message is parsed to obtain data, the corresponding mobile station is determined according to the identification information of the mobile station, and the data is forwarded to the mobile station.
在一种可能的实现方式中，所述方法还包括：In a possible implementation manner, the method further includes:
在接收到基站发送的订阅信息请求时，获取所述基站的订阅列表并返回给所述基站。Upon receiving the subscription information request sent by the base station, obtain the subscription list of the base station and return it to the base station.
在一种可能的实现方式中，所述服务请求为所述移动站在完成注册时发送的，或者完成注册后周期性发送的。In a possible implementation manner, the service request is sent when the mobile station completes the registration, or is sent periodically after the registration is completed.
根据本公开的另一方面，提供了一种定位***，所述***包括：云端服务器、移动站和基站，According to another aspect of the present disclosure, a positioning system is provided. The system includes a cloud server, a mobile station, and a base station,
所述云端服务器将基站向移动站发送的数据转发给移动站，移动站根据所述数据进行定位；The cloud server forwards the data sent by the base station to the mobile station to the mobile station, and the mobile station performs positioning according to the data;
所述云端服务器在距离最近一次接收到基站发送的数据或者上报的状态信息之后预定时间段内，若未接收到基站发送的数据或者上报的状态信息，则确定所述基站为异常基站；The cloud server determines that the base station is an abnormal base station if it does not receive the data sent by the base station or the reported status information within a predetermined time period after the last time it received the data sent by the base station or the status information reported;
云端服务器获取异常基站的订阅列表；The cloud server obtains the subscription list of the abnormal base station;
云端服务器将订阅列表中的移动站的服务基站从所述异常基站切换到距离所述异常基站最近的基站。The cloud server switches the serving base station of the mobile station in the subscription list from the abnormal base station to the base station closest to the abnormal base station.
根据本公开的另一方面，提供了一种基站切换装置，包括：处理器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为执行上述方法。According to another aspect of the present disclosure, there is provided a base station switching device, including: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above method.
根据本公开的另一方面，提供了一种非易失性计算机可读存储介质，其上存储有计算机程序指令，其中，所述计算机程序指令被处理器执行时实现上述方法。According to another aspect of the present disclosure, there is provided a non-volatile computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions implement the above method when executed by a processor.
在多个基站为移动站服务的情况下，本公开实施例的基站切换方法可以使移动站从云端获取距离当前位置最近的基站，并切换到该基站上，以提高移动站工作过程中的定位精度。另外，当基站出现异常时，也可以为异常基站服务的移动站快速切换到正常的基站上，实现不间断、高精度的定位。In the case that multiple base stations serve the mobile station, the base station switching method of the embodiments of the present disclosure can enable the mobile station to obtain the base station closest to the current location from the cloud, and switch to the base station, so as to improve the positioning of the mobile station during operation. Accuracy. In addition, when the base station is abnormal, the mobile station serving the abnormal base station can also be quickly switched to the normal base station to achieve uninterrupted, high-precision positioning.
根据下面参考附图对示例性实施例的详细说明，本公开的其它特征及方面将变得清楚。According to the following detailed description of exemplary embodiments with reference to the accompanying drawings, other features and aspects of the present disclosure will become clear.
附图说明Description of the drawings
包含在说明书中并且构成说明书的一部分的附图与说明书一起示出了本公开的示例性实施例、特征和方面，并且用于解释本公开的原理。The drawings included in the specification and constituting a part of the specification together with the specification illustrate exemplary embodiments, features, and aspects of the present disclosure, and are used to explain the principle of the present disclosure.
图1示出根据本公开一实施例的应用场景的示意图。Fig. 1 shows a schematic diagram of an application scenario according to an embodiment of the present disclosure.
图2示出根据本公开一实施例的基站切换方法的流程图。Fig. 2 shows a flowchart of a base station handover method according to an embodiment of the present disclosure.
图3示出根据本公开另一实施例的基站切换方法的流程图。Fig. 3 shows a flowchart of a base station handover method according to another embodiment of the present disclosure.
图4示出了根据本公开的一个示例的应用场景的示意图。Fig. 4 shows a schematic diagram of an application scenario according to an example of the present disclosure.
图5是根据一示例性实施例示出的用于基站切换的装置的框图。Fig. 5 is a block diagram showing a device for base station handover according to an exemplary embodiment.
图6是根据一示例性实施例示出的用于基站切换的装置的框图。Fig. 6 is a block diagram showing a device for base station handover according to an exemplary embodiment.
具体实施方式Detailed ways
以下将参考附图详细说明本公开的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。Hereinafter, various exemplary embodiments, features, and aspects of the present disclosure will be described in detail with reference to the drawings. The same reference numerals in the drawings indicate elements with the same or similar functions. Although various aspects of the embodiments are shown in the drawings, unless otherwise noted, the drawings are not necessarily drawn to scale.
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。The dedicated word "exemplary" here means "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" need not be construed as being superior or better than other embodiments.
另外，为了更好的说明本公开，在下文的具体实施方式中给出了众多的具体细节。本领域技术人员应当理解，没有某些具体细节，本公开同样可以实施。在一些实例中，对于本领域技术人员熟知的方法、手段、元件和电路未作详细描述，以便于凸显本公开的主旨。In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. Those skilled in the art should understand that the present disclosure can also be implemented without certain specific details. In some instances, the methods, means, elements, and circuits that are well known to those skilled in the art have not been described in detail in order to highlight the gist of the present disclosure.
图1示出根据本公开一实施例的应用场景的示意图。图2示出根据本公开一实施例的基站切换方法的流程图。结合图1和图2对本公开的基站切换方法进行说明。Fig. 1 shows a schematic diagram of an application scenario according to an embodiment of the present disclosure. Fig. 2 shows a flowchart of a base station handover method according to an embodiment of the present disclosure. The base station handover method of the present disclosure will be described with reference to FIG. 1 and FIG. 2.
如图1所示，在本公开的基站切换方法的应用场景中可以包括多个基站组成的网络、云端以及移动站。其中，基站可以是提供移动通信服务的基站，在一个示例中，所述基站可以为RTK基站；云端可以为云服务器；移动站可以是各种终端用户设备，例如前文所述的割草机器人。As shown in FIG. 1, the application scenario of the base station handover method of the present disclosure may include a network composed of multiple base stations, the cloud, and a mobile station. The base station may be a base station that provides mobile communication services. In an example, the base station may be an RTK base station; the cloud may be a cloud server; and the mobile station may be various end user equipment, such as the lawn mower robot described above.
如图2所示，基站开机后，可以向云端注册基站的设备信息，基站的设备信息可以包括基站的标识信息和位置信息。基站可以向云端发送基站的标识信息和位置信息。云端在接收到基站发送的基站的标识信息和位置信息后，在云端本地进行存储。As shown in Figure 2, after the base station is turned on, the device information of the base station can be registered with the cloud, and the device information of the base station can include the identification information and location information of the base station. The base station can send the identification information and location information of the base station to the cloud. After the cloud receives the identification information and location information of the base station sent by the base station, it stores it locally in the cloud.
具体的，基站开机后可以从卫星(例如，GPS)获取到基站当前所处位置的位置信息。向云端发送注册请求，注册请求携带有基站的标识信息和基站的位置信息。云端接收到注册请求后，可以将基站的标识信息和位置信息存储在云端的数据库。在一种可能的实现方式中，可以采用表(基站设备信息表)的形式存储，一个表项中记录一个基站的标识信息和位置信息等。在一种可能的实现方式中，在上述表项中还可以记录基站服务的移动站的信息，即订阅列表，例如，移动站的标识信息和位置信息等。在基站刚完成注册时，还未向移动站提供服务，此时，表项中对应的记录基站服务的移动站的位置可以设置为空。Specifically, after the base station is turned on, the location information of the current location of the base station can be obtained from a satellite (for example, GPS). Send a registration request to the cloud, the registration request carries the identification information of the base station and the location information of the base station. After the cloud receives the registration request, it can store the identification information and location information of the base station in the cloud database. In a possible implementation manner, the storage may be in the form of a table (base station equipment information table), and one table entry records the identification information and location information of a base station. In a possible implementation manner, the information of the mobile station served by the base station, that is, the subscription list, for example, the identification information and location information of the mobile station, can also be recorded in the above table entry. When the base station has just completed registration, it has not yet provided service to the mobile station. At this time, the location of the mobile station that records the base station service in the table entry can be set to empty.
基站完成注册后，可以确定当前是否有设备订阅该基站的数据，例如，基站可以向云端发送获取服务的移动站的信息的获取请求，也就是向云端发送获取请求以获取订阅列表，获取请求中可以携带有基站的标识信息，云端在接收到获取请求后，可以根据基站的标识信息查找到该基站服务的移动站的信息(即订阅列表)，并将订阅列表返回给基站，基于云端返回的订阅列表，基站可以确定当前是否有设备订阅该基站的数据。以上述刚完成注册的基站为例，云端查找到该基站服务的移动站的信息(订阅列表)为空， 因此，向基站返回的基站服务的移动站的信息(订阅列表)为空，基于云端返回的信息，基站可以确定没有设备订阅该基站的数据。After the base station completes registration, it can determine whether there are devices currently subscribed to the base station’s data. For example, the base station can send a request to the cloud to obtain the information of the mobile station that obtains the service, that is, send a get request to the cloud to get the subscription list. It can carry the identification information of the base station. After the cloud receives the acquisition request, it can find the mobile station information (that is, the subscription list) served by the base station according to the identification information of the base station, and return the subscription list to the base station. With the subscription list, the base station can determine whether there is currently a device subscribed to the base station's data. Taking the above-mentioned base station that has just completed registration as an example, the cloud finds that the information (subscription list) of the mobile station served by the base station is empty. Therefore, the information (subscription list) of the mobile station served by the base station returned to the base station is empty, based on the cloud With the returned information, the base station can determine that no device has subscribed to the base station's data.
若没有设备订阅该基站的数据，则等待设备订阅数据；若有设备订阅该基站的数据，那么向订阅该基站的数据的设备发送数据，例如，可以以一定频率(第一频率)向设备发送数据。在一种可能的实现方式中，基站可以先将要发送的数据发送到云端，可以以数据报文的形式向云端发送数据，数据报文可以携带有基站的标识信息以及移动站的标识信息，云端在接收到基站发送的数据报文后，可以根据基站的标识信息查找基站服务的移动站中是否存在与数据报文携带的移动站的标识信息匹配的移动站，若存在，则将数据报文转发给与数据报文携带的移动站的标识信息匹配的移动站，若不存在，则云端可以丢弃报文。If no device subscribes to the base station's data, wait for the device to subscribe to the data; if there is a device subscribes to the base station's data, then send the data to the device that subscribes to the base station's data, for example, it can be sent to the device at a certain frequency (the first frequency) data. In a possible implementation, the base station can first send the data to be sent to the cloud, and can send the data to the cloud in the form of a data message. The data message can carry the identification information of the base station and the identification information of the mobile station. After receiving the data message sent by the base station, according to the identification information of the base station, it is possible to find out whether there is a mobile station that matches the identification information of the mobile station carried in the data message according to the identification information of the base station. It is forwarded to a mobile station that matches the identification information of the mobile station carried in the data message. If it does not exist, the cloud can discard the message.
在一种可能的实现方式中，基站也可以不需要向云端发送获取请求获取订阅列表，直接向云端发送数据，云端根据基站的标识信息查找订阅列表以确定是否转发数据。In a possible implementation manner, the base station does not need to send an acquisition request to the cloud to obtain the subscription list, and directly sends data to the cloud. The cloud searches the subscription list according to the identification information of the base station to determine whether to forward the data.
在一种可能的实现方式中，该基站还可以向云端上报该基站当前的工作状态，例如，该基站也可以以一定频率(第二频率)向云端上报当前的工作状态。其中，第一频率和第二频率可以相同或者不同，本公开不作限定，而且第一频率和第二频率的起始时间也可以相同，也可以不同。在一种可能的实现方式中，基站可以通过互联网向云端上报当前的工作状态。In a possible implementation, the base station can also report the current working status of the base station to the cloud. For example, the base station can also report the current working status to the cloud at a certain frequency (second frequency). The first frequency and the second frequency may be the same or different, which is not limited in the present disclosure, and the start time of the first frequency and the second frequency may also be the same or different. In a possible implementation manner, the base station can report the current working status to the cloud via the Internet.
如果基站出现异常，例如，断电、损坏、升级等，在出现异常时，基站无法向其服务的移动站发送数据报文，也无法向云端上报当前的工作状态，或者基站向其服务的移动站连续发送错误数据报文，因此，若云端在距离最近一次接收到基站发送的数据报文或者上报的工作状态之后预设时间段内，没有接收到基站发送的数据报文或者上报的工作状态，或者云端连续接收到错误数据报文，则可以确定基站出现异常(将该基站称为异常基站)，云端可以查找确定异常基站服务的移动站(称该移动站为断网移动站)，例如，可以通过查找如上所述的表项进行查找，并为断网移动站重新设置可以正常提供服务的基站，例如，可以根据异常基站的位置信息以及断网移动站当前的位置信息重新为断网移动站设置能够正常提供服务的基站。在一个示例中，可以将断网移动站的服务基站切换到距离异常基站最近的基站。或者，在另一个示例中，可以根据断网移动站最新 的位置信息以及本地存储的处于等待状态的基站的位置信息重新确定距离断网移动站距离最近的基站。通过以上实施方式，在基站出现异常的情况下，可以快速将异常基站服务的移动站切换到其他合适的基站上，仍然可以为移动站提供不间断、高精度定位。If the base station is abnormal, such as power failure, damage, upgrade, etc., when the abnormality occurs, the base station cannot send data packets to the mobile station it serves, nor can it report the current working status to the cloud, or the movement of the base station to its service The station continuously sends error data messages. Therefore, if the cloud does not receive the data message sent by the base station or report the working status within a preset period of time since the last time it received the data message sent by the base station or the reported working status , Or the cloud continuously receives error data packets, it can be determined that the base station is abnormal (this base station is called an abnormal base station), and the cloud can search for and determine the mobile station served by the abnormal base station (called the mobile station disconnected), for example , You can search by looking up the above entries, and reset the base station that can provide services normally for the disconnected mobile station. For example, you can reset the disconnected network according to the location information of the abnormal base station and the current location information of the disconnected mobile station. The mobile station sets up a base station that can provide services normally. In an example, the serving base station of the disconnected mobile station can be switched to the base station closest to the abnormal base station. Or, in another example, the base station closest to the disconnected mobile station may be re-determined based on the latest location information of the disconnected mobile station and the locally stored position information of the base station in the waiting state. Through the above implementation manners, when the base station is abnormal, the mobile station served by the abnormal base station can be quickly switched to another suitable base station, and the mobile station can still be provided with uninterrupted, high-precision positioning.
上述预设时间段可以是预先设定的一定长度的时间段，例如，预定时间段的长度可以与第一频率或者第二频率相关。具体来说，若基站只是以第一频率向云端发送数据报文，那么基站可以根据第一频率设置预定时间段的长度，比如说，预定时间段的长度可以大于第一频率对应的周期的长度。若基站还以第二频率向云端上报当前的工作状态，那么，基站可以根据第二频率和/或第一频率设置预定时间段的长度，比如，根据第二频率设置预定时间段的长度，可以将预设时间段的长度设置为大于第二频率对应的周期的长度。The above-mentioned preset time period may be a preset time period of a certain length, for example, the length of the predetermined time period may be related to the first frequency or the second frequency. Specifically, if the base station only uses the first frequency to send data packets to the cloud, the base station can set the length of the predetermined period of time according to the first frequency. For example, the length of the predetermined period of time can be greater than the length of the period corresponding to the first frequency. . If the base station also reports the current working status to the cloud using the second frequency, the base station can set the length of the predetermined time period according to the second frequency and/or the first frequency. For example, the length of the predetermined time period can be set according to the second frequency. The length of the preset time period is set to be greater than the length of the period corresponding to the second frequency.
图3示出根据本公开另一实施例的基站切换方法的流程图。图4示出了根据本公开的一个示例的应用场景的示意图。结合图3和图4对本公开的基站切换方法进行说明。Fig. 3 shows a flowchart of a base station handover method according to another embodiment of the present disclosure. Fig. 4 shows a schematic diagram of an application scenario according to an example of the present disclosure. The base station handover method of the present disclosure will be described with reference to FIG. 3 and FIG. 4.
如图3所示，基站开机后可以从卫星(例如，GPS)获取到基站当前所处位置的位置信息。基站在获取到自身的位置信息后，可以向云端发送注册请求，注册请求可以携带有基站的标识信息和位置信息。云端在接收到注册请求后，可以将基站的标识信息和位置信息存储在云端的数据库。在一种可能的实现方式中，可以采用表(基站设备信息表)的形式存储，一个表项中记录一个基站的标识信息和位置信息等。在一种可能的实现方式中，在上述表项中还可以记录基站服务的移动站的设备信息，即订阅列表，例如，移动站的标识信息和位置信息等。As shown in FIG. 3, after the base station is turned on, the position information of the current location of the base station can be obtained from a satellite (for example, GPS). After the base station obtains its own location information, it can send a registration request to the cloud, and the registration request can carry the identification information and location information of the base station. After the cloud receives the registration request, it can store the identification information and location information of the base station in the cloud database. In a possible implementation manner, storage may be in the form of a table (base station equipment information table), and one table entry records the identification information and location information of a base station. In a possible implementation manner, the device information of the mobile station served by the base station, that is, a subscription list, for example, the identification information and location information of the mobile station, can also be recorded in the above table entry.
在一种可能的实现方式中，可以不采用上文所述的在基站的设备信息表项中存储服务的移动站的设备信息、以及在移动站的设备信息表项中存储为移动站服务的基站的设备信息的方式来记录基站和移动站之间的对应关系。可以建立专门的基站-移动站对应关系表来记录基站和移动站之间的服务关系。In a possible implementation manner, the device information of the mobile station that is stored in the device information entry of the base station as described above, and the device information of the mobile station that is stored in the device information entry of the mobile station is stored in the device information entry of the mobile station may not be used. The device information of the base station is used to record the correspondence between the base station and the mobile station. A special base station-mobile station correspondence table can be established to record the service relationship between the base station and the mobile station.
本申请还提供了一种基站切换的方法，应用于移动站，本申请的基站切换方法可以包括以下步骤：This application also provides a base station handover method, which is applied to a mobile station. The base station handover method of this application may include the following steps:
移动站获取自身的实时位置后，向云端发送获取请求，获取请求用于获取向移动站提供服务的第一基站，所述获取请求中携带有所述实时位置；After acquiring its real-time location, the mobile station sends an acquisition request to the cloud. The acquisition request is used to acquire the first base station that provides services to the mobile station, and the acquisition request carries the real-time location;
接收云端响应于所述获取请求返回的第一基站的标识信息；其中，所述第一基站为距离移动站最近的基站、并且移动站在该第一基站的服务范围内，或者所述第一基站为距离移动站一定距离范围的一个或多个基站中的一个基站；Receive the identification information of the first base station returned by the cloud in response to the acquisition request; wherein the first base station is the base station closest to the mobile station and the mobile station is within the service range of the first base station, or the first base station The base station is one of one or more base stations within a certain distance from the mobile station;
根据所述标识信息向云端反馈订阅第一基站的确认消息，订阅所述第一基站。According to the identification information, the confirmation message of subscribing to the first base station is fed back to the cloud to subscribe to the first base station.
在一种可能的实现方式中，上述移动站获取自身的实时位置可以是指，移动站开机后获取自身的实时位置，还可以是指移动站根据第一基站发布的数据进行实时的定位更新的移动站的实时位置。也就是说，获取请求中携带的是，移动站的实时位置，或者称作当前位置，本申请对此不作限定。In a possible implementation, the above-mentioned acquisition of the real-time position of the mobile station by the mobile station may refer to the acquisition of the real-time position of the mobile station after the mobile station is turned on, or it may mean that the mobile station performs real-time position update based on the data issued by the first base station. The real-time location of the mobile station. In other words, the acquisition request carries the real-time location of the mobile station, or called the current location, which is not limited in this application.
在一种可能的实现方式中，如果移动站获取自身的实时位置为移动站根据第一基站发布的数据进行实时的定位更新的移动站的位置信息，向云端反馈订阅第一基站的确认消息，订阅所述第一基站，可以包括：向云端反馈订阅第一基站的确认消息，将服务切换到所述第一基站。In a possible implementation, if the mobile station obtains its own real-time position as the mobile station performs real-time positioning update location information of the mobile station according to the data released by the first base station, and feeds back the confirmation message of subscribing to the first base station to the cloud, Subscribing to the first base station may include: feeding back a confirmation message for subscribing to the first base station to the cloud, and switching the service to the first base station.
在一种可能的实现方式中，本申请的基站切换方法还可以包括以下步骤：In a possible implementation manner, the base station handover method of the present application may further include the following steps:
从云端获取注册过的所有基站的位置信息；Obtain the location information of all registered base stations from the cloud;
根据移动站自身的实时位置以及基站的位置信息，确定向移动站提供服务的第一基站，其中，所述第一基站可以为距离移动站最近、并且移动站在该第一基站的服务范围内的基站，或者，第一基站也可以为距离移动站一定距离范围的一个或多个基站中的一个基站。According to the real-time location of the mobile station and the location information of the base station, determine the first base station that provides services to the mobile station, where the first base station may be the closest to the mobile station and the mobile station is within the service range of the first base station Alternatively, the first base station may also be one of one or more base stations within a certain distance from the mobile station.
在上述实现方式中，根据标识信息向云端反馈订阅第一基站的确认消息，订阅所述第一基站，可以包括：根据第一基站的标识信息向云端发送确认第一基站是否可用的确认请求；如果云端向移动站反馈的结果表明第一基站可用，则将服务切换到第一基站上。In the foregoing implementation manner, feeding back a confirmation message for subscribing to the first base station to the cloud according to the identification information, and subscribing to the first base station may include: sending a confirmation request to the cloud to confirm whether the first base station is available according to the identification information of the first base station; If the result of the cloud feedback to the mobile station indicates that the first base station is available, the service is switched to the first base station.
在上述实现方式中，移动站可以周期性的向云端发送获取基站信息的请求，以获取注册过的所有基站的位置信息。在一种可能的实现方式中，移动站也可以在接收到基站的设备信息后，根据移动站的实时位置信息和基站的设备信息中的位置信息判断距离移动站最近的基站是否为当前向移动站提供服务的基站，若不是，则订阅当前确定的最近的基站发布的数据。在另一种可能的实现方式中，移动站可以根据移动站的实时位置和基站的位置信息重新确定第一基站，在重新确定第一基站后，可以判断重新确定的第一 基站是否为当前向移动站提供服务的基站，若是，可以不处理，若不是，还可以根据移动站的实时位置、重新确定的第一基站的位置信息、以及当前向移动站提供服务的基站的位置信息选择距离移动站最近的第二基站，订阅第二基站。In the foregoing implementation manner, the mobile station may periodically send a request for obtaining base station information to the cloud to obtain the location information of all registered base stations. In a possible implementation, the mobile station can also determine whether the base station closest to the mobile station is currently moving according to the real-time position information of the mobile station and the position information in the equipment information of the base station after receiving the equipment information of the base station. The base station that the station provides service, if not, subscribes to the data published by the nearest base station currently determined. In another possible implementation manner, the mobile station can re-determine the first base station according to the real-time location of the mobile station and the location information of the base station. After re-determining the first base station, it can determine whether the re-determined first base station is the current direction. The base station that the mobile station serves, if it is, it does not need to be processed, if not, it can also select the distance to move based on the real-time location of the mobile station, the newly determined location information of the first base station, and the location information of the base station currently serving the mobile station Station the nearest second base station, subscribe to the second base station.
在一种可能的实现方式中，本申请的基站切换方法还可以包括以下步骤：In a possible implementation manner, the base station handover method of the present application may further include the following steps:
若在距离最近一次接收到第一基站发布的数据之后的预定时间段内未接收到新的数据，向云端发送获取请求或者从云端获取注册过的所有基站的位置信息，以重新确定向移动站提供服务的第一基站；If no new data is received within a predetermined period of time after the most recent reception of the data released by the first base station, send an acquisition request to the cloud or obtain the location information of all registered base stations from the cloud to re-determine to the mobile station The first base station that provides the service;
若在距离最近一次接收到第一基站发布的数据之后的预定时间段内接收到新的数据，根据新的数据进行实时的定位得到实时位置；向云端发送获取请求或者从云端获取注册过的所有基站的位置信息，以根据所述实时位置和基站的位置信息重新确定距离移动站最近的基站。If new data is received within a predetermined period of time after the latest data released by the first base station is received, real-time positioning is performed based on the new data to obtain the real-time position; send an acquisition request to the cloud or obtain all registered data from the cloud The location information of the base station is used to re-determine the base station closest to the mobile station based on the real-time location and the location information of the base station.
本申请还提供了一种基站切换方法，应用于云端，本申请的基站切换方法可以包括以下步骤：This application also provides a base station handover method, which is applied to the cloud. The base station handover method of this application may include the following steps:
接收移动站发送的获取请求，其中，获取请求中携带有移动站的实时位置；Receiving an acquisition request sent by a mobile station, where the acquisition request carries the real-time location of the mobile station;
根据移动站的实时位置以及云端本地存储的基站的位置信息，确定向移动站提供服务的第一基站，所述第一基站可以为距离移动站最近的基站、并且移动站在第一基站的服务范围内，或者，所述第一基站为距离移动站一定距离范围的一个或多个基站中的一个基站；According to the real-time location of the mobile station and the location information of the base station stored locally in the cloud, the first base station that provides services to the mobile station is determined. The first base station may be the base station closest to the mobile station, and the mobile station serves the first base station Within a range, or the first base station is one of one or more base stations within a certain distance range from the mobile station;
向移动站发送第一基站的标识信息；Sending the identification information of the first base station to the mobile station;
接收移动站发送的订阅第一基站的确认消息，记录第一基站和所述移动站之间的服务关系。Receive a confirmation message for subscribing to the first base station sent by the mobile station, and record the service relationship between the first base station and the mobile station.
在一种可能的实现方式中，对于所述第一基站可以为距离移动站最近、并且移动站在第一基站的服务范围内的基站的情况，在云端确定第一基站后，云端还可以判断第一基站是否为当前向移动站提供服务的基站；若不是，向移动站发送第一基站的标识信息，以使移动站将服务切换到第一基站上，若是，可以不处理。In a possible implementation manner, for the case where the first base station may be the base station closest to the mobile station and within the service range of the first base station, after the first base station is determined in the cloud, the cloud may also determine Whether the first base station is the base station currently providing services to the mobile station; if not, send the identification information of the first base station to the mobile station so that the mobile station will switch the service to the first base station. If so, it may not be processed.
在一种可能的实现方式中，根据移动站的实时位置以及云端本地存储的基站的位置信息，确定向移动站提供服务的第一基站，可以包括：In a possible implementation manner, determining the first base station that provides services to the mobile station according to the real-time location of the mobile station and the location information of the base station stored locally in the cloud may include:
根据移动站的实时位置以及云端本地存储的基站的位置信息，确定距离移动站一定距离范围内的一个或者多个基站，并且移动站在所述一个或多个基站的服务范围内；云端从所述一个或多个基站中确定出一个基站作为向所述移动站提供服务的第一基站。或者可以包括：根据移动站的实时位置以及云端本地存储的基站的位置信息，确定距离移动站一定距离范围内的一个或者多个基站，并且移动站在所述一个或多个基站的服务范围内；判断所述一个或多个基站是否包括当前向移动站提供服务的基站；若不包括，则从所述一个或多个基站重新确定一个向移动站提供服务的基站，若包括，则不处理。According to the real-time location of the mobile station and the location information of the base station stored locally in the cloud, one or more base stations within a certain distance from the mobile station are determined, and the mobile station is within the service range of the one or more base stations; One of the one or more base stations is determined as the first base station that provides services to the mobile station. Or it may include: determining one or more base stations within a certain distance from the mobile station according to the real-time location of the mobile station and the location information of the base station stored locally in the cloud, and the mobile station is within the service range of the one or more base stations ; Determine whether the one or more base stations include the base station that currently provides services to the mobile station; if not, re-determine a base station that provides services to the mobile station from the one or more base stations, and if it includes, do not process .
在一种可能的实现方式中，若云端确定出距离移动站一定范围的一个或多个基站，但是移动站不在所述一个或多个基站的服务范围内，切换至网络RTK模式，为移动站计算虚拟基站。In a possible implementation, if the cloud determines one or more base stations within a certain range from the mobile station, but the mobile station is not within the service range of the one or more base stations, switch to the network RTK mode and become the mobile station Calculate the virtual base station.
本实施方式的基站切换方法还可以包括以下步骤：The base station handover method of this embodiment may further include the following steps:
向移动站发送本地存储的基站的位置信息，以使移动站根据移动站自身的实时位置以及基站的位置信息，确定第一基站；Sending the locally stored location information of the base station to the mobile station, so that the mobile station determines the first base station according to the real-time location of the mobile station itself and the location information of the base station;
接收移动站发送的确认第一基站是否可用的确认请求；Receiving a confirmation request sent by the mobile station to confirm whether the first base station is available;
向移动站反馈第一基站可用的结果，以使移动站将订阅第一基站。The result of the availability of the first base station is fed back to the mobile station, so that the mobile station will subscribe to the first base station.
在一种可能的实现方式中，本实施方式的基站切换方法还可以包括以下步骤：若云端检测到异常基站，则确定向所述异常基站服务的移动站提供服务的第二基站，所述第二基站为距离所述异常基站最近的基站，或者，所述第二基站为距离所述异常基站服务的移动站最近的基站。In a possible implementation, the base station handover method of this embodiment may further include the following steps: if an abnormal base station is detected in the cloud, determining a second base station that provides services to the mobile station served by the abnormal base station, and the second base station The second base station is the base station closest to the abnormal base station, or the second base station is the base station closest to the mobile station served by the abnormal base station.
向所述异常基站服务的移动站发送第二基站的标识信息，以使所述异常基站服务的移动站订阅所述第二基站。The identification information of the second base station is sent to the mobile station served by the abnormal base station, so that the mobile station served by the abnormal base station subscribes to the second base station.
以下是本申请的基站切换方法的一些更具体的应用示例。The following are some more specific application examples of the base station handover method of this application.
移动站(例如割草机)开机，移动站开机后获取自身位置信息(实时位置)。移动站获取自身位置信息的具体方式可以根据相关的算法实现，本公开对此不作限定。The mobile station (such as a lawn mower) is turned on, and the mobile station obtains its own position information (real-time position) after it is turned on. The specific method for the mobile station to obtain its own location information can be implemented according to a related algorithm, which is not limited in the present disclosure.
移动站在获取自身的位置信息后，可以向云端发送获取距离当前位置距离最近的基站信息的获取请求，该获取请求中携带有移动站的位置信息。云端在接收到获取请求后，根据移动站的位置信息以及云端本地存储的基站的位置信息，确定距离移动站最近的第 一基站，并且移动站在该第一基站的服务范围内，将第一基站确定为向该移动站提供服务的基站。或者，云端可以根据移动站的位置信息以及云端本地存储的基站的位置信息，确定距离移动站一定距离范围内的一个或者多个基站，并且移动站在该一个或多个基站的服务范围内，之后，云端可以从该一个或多个基站中确定出一个基站作为向该移动站提供服务的基站，具体的，云端可以从该一个或多个基站中确定出当前处于正常工作状态的一个基站作为向该移动站提供服务的基站，也可以任意选择一个，或者通过其他方式选择一个，本公开对此不作限定。之后，云端可以向移动站发送向该移动站提供服务的基站的标识信息。此外，云端在向移动站发送向该移动站提供服务的基站的标识信息之前还可以进一步确认该基站当前是否处于正常工作状态，如果该基站处于正常工作状态，则向移动站发送向该移动站提供服务的基站的标识信息。After the mobile station obtains its own location information, it can send to the cloud an obtaining request for obtaining the information of the base station closest to the current location, and the obtaining request carries the location information of the mobile station. After the cloud receives the acquisition request, it determines the first base station closest to the mobile station according to the location information of the mobile station and the location information of the base station stored locally in the cloud, and the mobile station places the first base station within the service range of the first base station. The base station is determined as a base station that provides services to the mobile station. Alternatively, the cloud can determine one or more base stations within a certain distance from the mobile station according to the location information of the mobile station and the location information of the base stations stored locally in the cloud, and the mobile station is within the service range of the one or more base stations, After that, the cloud can determine a base station from the one or more base stations as a base station that provides services to the mobile station. Specifically, the cloud can determine from the one or more base stations a base station that is currently in a normal working state as a base station. The base station that provides services to the mobile station can also be arbitrarily selected, or one can be selected in other ways, which is not limited in the present disclosure. After that, the cloud can send the identification information of the base station that provides services to the mobile station to the mobile station. In addition, the cloud can further confirm whether the base station is currently in a normal working state before sending to the mobile station the identification information of the base station that provides services to the mobile station. If the base station is in a normal working state, it will send a message to the mobile station. The identification information of the base station that provides the service.
移动站在接收到向该移动站提供服务的基站的标识信息后，可以订阅该基站发布的数据，并向云端反馈确认消息。After the mobile station receives the identification information of the base station that provides services to the mobile station, it can subscribe to the data published by the base station and feed back a confirmation message to the cloud.
云端在接收到移动站反馈的确认消息后，可以在上述基站-移动站对应关系表中记录第一基站和上述移动站之间的服务关系，或者可以更新基站设备信息表和移动站设备信息表相应的表项以实现服务关系的记录，比如说，在第一基站的表项中记录上述移动站的设备信息，在上述移动站的表项中记录第一基站的设备信息，等等。After receiving the confirmation message fed back by the mobile station, the cloud can record the service relationship between the first base station and the mobile station in the base station-mobile station correspondence table, or can update the base station equipment information table and the mobile station equipment information table Corresponding entries are used to record the service relationship. For example, the device information of the mobile station is recorded in the entry of the first base station, the device information of the first base station is recorded in the entry of the mobile station, and so on.
这样，在基站发送数据报文时，或者在基站或者移动站在出现问题时，可以通过服务关系查找到另一方，为另一方重新设置服务的关联关系。比如说，基站出现异常，那么云端可以确定该基站服务的移动站，并为该移动站重新确定为其提供服务的基站。或者，如上文所述，云端接收到基站发来的数据包，可以根据基站的标识信息查找基站服务的移动站中是否存在与数据报文携带的移动站的标识信息匹配的移动站，若存在，则将数据报文转发给与数据报文携带的移动站的标识信息匹配的移动站。In this way, when the base station sends a data message, or when a problem occurs in the base station or the mobile station, the other party can be found through the service relationship, and the service association relationship can be reset for the other party. For example, if the base station is abnormal, the cloud can determine the mobile station served by the base station, and re-determine the base station that provides the service for the mobile station. Or, as described above, the cloud receives the data packet sent by the base station, and it can search for the mobile station served by the base station according to the identification information of the base station whether there is a mobile station that matches the identification information of the mobile station carried in the data packet. , The data message is forwarded to the mobile station that matches the identification information of the mobile station carried in the data message.
基站的服务范围可以是指该基站可以向位于该服务范围内的移动站提供服务，基站的服务范围可以是指地理上的一个距离范围。图4所示的示例中，在每一个基站周围示例性的画出了基站的服务范围，如图4所示，基站的服务范围可以是以基站为圆心的一个圆形的地理范围，服务半径可以与基站的功率等有关，本公开对此不作限定。The service range of a base station may refer to that the base station can provide services to mobile stations located within the service range, and the service range of a base station may refer to a geographical distance range. In the example shown in Fig. 4, the service range of the base station is exemplarily drawn around each base station. As shown in Fig. 4, the service range of the base station can be a circular geographic range with the base station as the center. It may be related to the power of the base station, etc., which is not limited in the present disclosure.
在一种可能的实现方式中，基站在注册时还可以注册基站的服务范围，云端可以在 基站设备信息表中记录基站的服务范围。因此，在为移动站确定服务的基站时，可以根据记录的基站的服务范围以及移动站的位置信息确定移动站是否位于基站的服务范围内。In a possible implementation manner, the base station can also register the service range of the base station during registration, and the cloud can record the service range of the base station in the base station equipment information table. Therefore, when determining the serving base station for the mobile station, it can be determined whether the mobile station is located within the service range of the base station according to the recorded service range of the base station and the location information of the mobile station.
移动站在工作过程中，可以根据订阅的基站发布的数据进行实时的定位，并更新移动站的位置信息。具体定位的过程可以根据相关的算法实现，本公开对此不作限定。During the working process of the mobile station, it can perform real-time positioning according to the data released by the subscribed base station, and update the position information of the mobile station. The specific positioning process can be implemented according to related algorithms, which is not limited in the present disclosure.
移动站以一定频率接收来自基站发布的数据，判断在预定时间是否接收到数据，若在距离最近一次接收到数据之后的预定时间段内未接收到新的数据，那么可以向云端发送基站信息获取请求，基站信息获取请求中可以携带最新定位的移动站的位置信息。云端接收到基站信息获取请求后，可以根据最新定位的移动站的位置信息以及云端存储的基站的位置信息，确定距离移动站最近的基站，并将最近的基站的标识信息发送给移动站，移动站在接收到最近的基站的标识信息后，可以订阅该基站发布的数据；或者，云端可以根据最新定位的位置信息以及云端本地存储的基站的位置信息，确定距离移动站一定距离范围内的一个或者多个基站，并且移动站在该一个或多个基站的服务范围内，之后，云端可以从该一个或多个基站中确定出一个基站作为向该移动站提供服务的基站，例如可以任意选择一个，之后，云端可以向移动站发送为向该移动站提供服务的基站的标识信息，移动站在接收到向该移动站提供服务的基站的标识信息后，可以订阅该基站发布的数据。The mobile station receives the data released from the base station at a certain frequency, and judges whether the data is received at the predetermined time. If no new data is received within the predetermined time period after the last data received, it can send the base station information to the cloud to obtain Request, the base station information acquisition request can carry the location information of the latest located mobile station. After the cloud receives the base station information acquisition request, it can determine the base station closest to the mobile station based on the location information of the newly located mobile station and the location information of the base station stored in the cloud, and send the identification information of the nearest base station to the mobile station. After receiving the identification information of the nearest base station, the station can subscribe to the data released by the base station; or, the cloud can determine the one within a certain distance from the mobile station based on the latest location information and the location information of the base station stored locally in the cloud. Or multiple base stations, and the mobile station is within the service range of the one or more base stations. After that, the cloud can determine a base station from the one or more base stations as the base station that provides services to the mobile station, for example, it can be selected arbitrarily One, after that, the cloud can send to the mobile station the identification information of the base station that provides services to the mobile station. After receiving the identification information of the base station that provides services to the mobile station, the mobile station can subscribe to the data published by the base station.
若在预定时间段内接收到数据，则可以再向云端发送移动站的实时位置信息，需要说明的是，移动站可以不是每次判断完在预定时间段内接收到数据，向云端发送实时位置信息，还可以以一定频率向云端发送实时位置信息，例如，可以设置发送实时位置信息的周期，周期性的向云端发送实时位置信息。If the data is received within a predetermined period of time, the real-time location information of the mobile station can be sent to the cloud again. It should be noted that the mobile station may not receive the data within the predetermined period of time every time it judges and send the real-time location to the cloud. Information, real-time location information can also be sent to the cloud at a certain frequency. For example, the period of sending real-time location information can be set, and the real-time location information can be sent to the cloud periodically.
云端可以根据实时位置信息以及云端本地存储的基站的位置信息，重新确定一个距离移动站最近的基站或者距离移动站一定距离范围的一个或多个基站。判断重新确定的一个距离移动站最近的基站是否为当前向移动站提供服务的基站，若是，可以不处理，若不是，则可以向移动站发送重新确定的最近的基站的标识信息；或者，判断距离移动站一定距离范围的一个或多个基站是否包括当前向移动站提供服务的基站，若是，则可以不处理，若不是，则可以从距离移动站一定距离范围的一个或多个基站重新确定一个向移动站服务的基站，并向移动站发送该重新确定的向移动站服务的基站的标识信息。The cloud can re-determine a base station closest to the mobile station or one or more base stations within a certain distance from the mobile station based on the real-time location information and the location information of the base stations stored locally in the cloud. Determine whether a newly determined base station closest to the mobile station is the base station currently serving the mobile station. If it is, it may not be processed. If not, the newly determined identification information of the nearest base station may be sent to the mobile station; or judged Whether one or more base stations within a certain distance from the mobile station includes the base station that currently provides services to the mobile station, if so, you can leave it alone, if not, you can re-determine from one or more base stations within a certain distance from the mobile station A base station serving the mobile station and sending the re-determined identification information of the base station serving the mobile station to the mobile station.
移动站在接收到重新确定的最近的基站的标识信息或者重新确定的向移动站服务的基站的标识信息后，可以订阅基站发布的数据。After receiving the newly determined identification information of the nearest base station or the newly determined identification information of the base station serving the mobile station, the mobile station can subscribe to the data published by the base station.
或者，移动站也可以以一定频率(周期性的)向云端发送获取基站信息的请求，云端在接收到该请求后，可以将本地存储的基站的设备信息发送给移动站。该周期也可以是预先设置的，具体可以参考向云端发送实时位置信息的内容。移动站可以在接收到基站的设备信息后，根据移动站的实时位置信息和基站的位置信息判断距离移动站最近的基站是否为当前向移动站提供服务的基站，若是，可以不处理，若不是，则可以订阅当前确定的最近的基站发布的数据。Alternatively, the mobile station may also send a request for obtaining base station information to the cloud at a certain frequency (periodically), and the cloud may send the locally stored equipment information of the base station to the mobile station after receiving the request. The period can also be preset. For details, refer to the content of sending real-time location information to the cloud. After receiving the equipment information of the base station, the mobile station can judge whether the base station closest to the mobile station is the base station currently serving the mobile station according to the real-time position information of the mobile station and the position information of the base station. , You can subscribe to the data published by the nearest base station currently determined.
在本实施方式中，若云端确定出距离移动站最近的基站，但是移动站不在该距离移动站最近的基站的服务范围内，或者若云端确定出距离移动站一定范围的一个或多个基站，但是移动站不在该一个或多个基站的服务范围内，此时，如图3所示，可以切换至网络RTK模式，为移动站计算虚拟基站。In this embodiment, if the cloud determines the base station closest to the mobile station, but the mobile station is not within the service range of the base station closest to the mobile station, or if the cloud determines one or more base stations within a certain range from the mobile station, However, the mobile station is not within the service range of the one or more base stations. At this time, as shown in FIG. 3, it can switch to the network RTK mode to calculate the virtual base station for the mobile station.
如图4所示，移动站C没有位于任意一个基站的服务范围内，这种情况下，云端可以为移动站C计算虚拟基站，在一种可能的实现方式中，可以利用CORS(Continuously Operating Reference Stations，连续运行参考站)确定移动站C的虚拟基站。在无法通过基站为移动站提供定位服务时，通过移动站附近的基站计算得到虚拟基站，采用虚拟基站为移动站提供定位服务，根据本公开实施方式的基站切换方法，可以为移动站提供精准、不间断的定位服务。As shown in Figure 4, mobile station C is not located within the service range of any base station. In this case, the cloud can calculate virtual base stations for mobile station C. In a possible implementation, you can use CORS (Continuously Operating Reference). Stations, continuously operating reference stations) determine the virtual base station of mobile station C. When the mobile station cannot be provided with positioning services through the base station, the virtual base station is calculated by the base station near the mobile station, and the virtual base station is used to provide the mobile station with the positioning service. According to the base station switching method of the embodiment of the present disclosure, the mobile station can provide accurate, Uninterrupted location service.
在一种可能的实现方式中，移动站获取自身的位置信息后，从云端获取注册过的所有基站的位置信息。移动站根据自身的位置信息以及基站的位置信息，确定距离自身最近的第一基站，并且自身在该第一基站的服务范围内，将第一基站确定为向自身提供服务的基站。或者，移动站可以根据自身的位置信息以及基站的位置信息，确定距离自身一定距离范围内的一个或者多个基站，并且自身在该一个或多个基站的服务范围内，之后，移动站可以从该一个或多个基站中确定出一个基站作为向自身提供服务的基站，例如可以任意选择一个。之后，移动站向云端确认该基站是否可用，基站可用指的是基站当前处于工作状态且无异常，如果云端向移动站反馈的结果表明该基站可用，则移动站订阅该第一基站发布的数据，即移动站将服务基站切换到该第一基站上。In a possible implementation manner, after the mobile station obtains its own location information, it obtains the location information of all registered base stations from the cloud. The mobile station determines the first base station closest to itself according to its own location information and the location information of the base station, and determines the first base station as a base station that provides services to itself within the service range of the first base station. Alternatively, the mobile station can determine one or more base stations within a certain distance from itself based on its own location information and the location information of the base station, and it is within the service range of the one or more base stations. One of the one or more base stations is determined as a base station that provides services to the base station. For example, one base station can be selected arbitrarily. After that, the mobile station confirms to the cloud whether the base station is available. The base station is available means that the base station is currently working and there is no abnormality. If the result of the cloud feedback to the mobile station indicates that the base station is available, the mobile station subscribes to the data released by the first base station , That is, the mobile station switches the serving base station to the first base station.
移动站在工作过程中，可以根据订阅的基站发布的数据进行实时的定位，并更新移动站的位置信息。具体定位的过程可以根据相关的算法实现，本公开对此不作限定。移动站以一定频率接收来自基站发布的数据，判断在预定时间是否接收到数据，若在距离最近一次接收到数据之后的预定时间段内未接收到新的数据，移动站根据最新定位的自身位置信息以及从云端获取的所有注册的基站的位置信息，确定当前距离移动站自身最近的基站，则移动站可以订阅该基站发布的数据；或者，移动站可以根据最新定位的自身位置信息以及从云端获取的所有注册的基站的位置信息，确定当前距离移动站自身一定距离范围内的一个或者多个基站，并且移动站在该一个或多个基站的服务范围内，之后，移动站可以从该一个或多个基站中确定出一个基站作为向自身提供服务的基站，例如可以任意选择一个，之后，移动站可以订阅该基站发布的数据。During the working process of the mobile station, it can perform real-time positioning according to the data released by the subscribed base station, and update the position information of the mobile station. The specific positioning process can be implemented according to related algorithms, which is not limited in the present disclosure. The mobile station receives the data released from the base station at a certain frequency and judges whether it has received the data at a predetermined time. If no new data is received within the predetermined time period after the last data received, the mobile station will locate its own position according to the latest location. Information and the location information of all registered base stations obtained from the cloud, determine the current base station closest to the mobile station itself, then the mobile station can subscribe to the data released by the base station; or, the mobile station can base on the latest location information of its own location and from the cloud Obtain the location information of all registered base stations, determine one or more base stations that are currently within a certain distance from the mobile station itself, and the mobile station is within the service range of the one or more base stations. Or a base station is determined among multiple base stations as a base station that provides services to itself, for example, one can be selected arbitrarily, and then the mobile station can subscribe to the data published by the base station.
若在预定时间段内接收到数据，移动站可以根据自身的实时位置信息以及从云端获取的所有基站的位置信息，重新确定一个距离移动站最近的基站或者距离移动站一定距离范围的一个或多个基站。判断重新确定的一个距离移动站最近的基站是否为当前向移动站提供服务的基站，若是，可以不处理，若不是，移动站订阅该重新确定的最近的基站发布的数据，即移动站将服务基站由第一基站切换为该重新确定的最近的基站；或者，判断距离移动站一定距离范围的一个或多个基站是否包括当前向移动站提供服务的基站，若是，则可以不处理，若不是，则可以从距离移动站一定距离范围的一个或多个基站重新确定一个向移动站服务的基站，移动站订阅该重新确定的向移动站服务的基站发布的数据，即移动站将服务基站由第一基站切换为该重新确定的向移动站服务的基站。进一步地，移动站将服务基站由第一基站切换为该重新确定的最近的基站或者向移动站服务的基站之前，移动站可以向云端确认该重新确定的最近的基站或者向移动站服务的基站是否可用，基站可用指的是基站当前处于工作状态且无异常，即正常工作状态，如果云端向移动站反馈的结果表明该基站可用，则移动站执行上述切换的步骤。If data is received within a predetermined period of time, the mobile station can re-determine a base station closest to the mobile station or one or more base stations within a certain distance from the mobile station based on its real-time location information and the location information of all base stations obtained from the cloud. Base station. Determine whether a newly determined base station closest to the mobile station is the base station currently serving the mobile station. If it is, it may not be processed. If not, the mobile station subscribes to the data released by the newly determined nearest base station, that is, the mobile station will serve The base station is switched from the first base station to the re-determined nearest base station; or, it is judged whether one or more base stations within a certain distance from the mobile station include the base station that currently provides services to the mobile station. If so, it may not be processed. If not, , You can re-determine a base station serving the mobile station from one or more base stations within a certain distance from the mobile station, and the mobile station subscribes to the re-determined data released by the base station serving the mobile station, that is, the mobile station transfers the serving base station from the base station to the mobile station. The first base station is switched to the newly determined base station serving the mobile station. Further, before the mobile station switches the serving base station from the first base station to the re-determined nearest base station or the base station serving the mobile station, the mobile station can confirm to the cloud the re-determined nearest base station or the base station serving the mobile station Whether it is available, the base station is available refers to the base station is currently in working state and there is no abnormality, that is, the normal working state, if the result of the cloud feedback to the mobile station indicates that the base station is available, the mobile station performs the above handover steps.
本公开还提供了一种定位***，所述***包括：云端服务器、移动站和基站，所述云端服务器将基站向移动站发送的数据转发给移动站，移动站根据所述数据进行定位；所述云端服务器在距离最近一次接收到基站发送的数据或者上报的状态信息之后预定时间段内，若未接收到基站发送的数据或者上报的状态信息，则确定所述基站为异常基站； 云端服务器获取异常基站的订阅列表；云端服务器将订阅列表中的移动站的服务基站从所述异常基站切换到距离所述异常基站最近的基站。云端服务器、移动站和基站的其他具体的功能可以参见上文方法部分的实施例，不再赘述。The present disclosure also provides a positioning system. The system includes a cloud server, a mobile station, and a base station. The cloud server forwards data sent by the base station to the mobile station to the mobile station, and the mobile station performs positioning according to the data; The cloud server determines that the base station is an abnormal base station if it does not receive the data sent by the base station or the reported status information within a predetermined period of time after the last time it received the data sent by the base station or the status information reported; The subscription list of the abnormal base station; the cloud server switches the serving base station of the mobile station in the subscription list from the abnormal base station to the base station closest to the abnormal base station. For other specific functions of the cloud server, the mobile station, and the base station, refer to the embodiments in the method section above, and will not be repeated.
本公开还提供了一种基站切换装置，包括：处理器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为执行指令时实现上文所述的方法。The present disclosure also provides a base station switching device, including: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured to implement the above-mentioned method when executing the instructions.
本公开还提供了一种非易失性计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上文所述的方法。The present disclosure also provides a non-volatile computer-readable storage medium on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the method described above is implemented.
图5是根据一示例性实施例示出的一种用于基站切换的装置800的框图。例如，装置800可以是割草机器人，移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，医疗设备，健身设备，个人数字助理等。Fig. 5 is a block diagram showing a device 800 for base station handover according to an exemplary embodiment. For example, the device 800 may be a lawn mower robot, a mobile phone, a computer, a digital broadcasting terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, and the like.
参照图5，装置800可以包括以下一个或多个组件：处理组件802，存储器804，电源组件806，多媒体组件808，音频组件810，输入/输出(I/O)的接口812，传感器组件814，以及通信组件816。5, the device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, And the communication component 816.
处理组件802通常控制装置800的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件802可以包括一个或多个处理器820来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件802可以包括一个或多个模块，便于处理组件802和其他组件之间的交互。例如，处理组件802可以包括多媒体模块，以方便多媒体组件808和处理组件802之间的交互。The processing component 802 generally controls the overall operations of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the foregoing method. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.
存储器804被配置为存储各种类型的数据以支持在装置800的操作。这些数据的示例包括用于在装置800上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器804可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。The memory 804 is configured to store various types of data to support the operation of the device 800. Examples of such data include instructions for any application or method operating on the device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable and Programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
电源组件806为装置800的各种组件提供电力。电源组件806可以包括电源管理***，一个或多个电源，及其他与为装置800生成、管理和分配电力相关联的组件。The power supply component 806 provides power for various components of the device 800. The power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 800.
多媒体组件808包括在所述装置800和用户之间的提供一个输出接口的屏幕。在一些 实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件808包括一个前置摄像头和/或后置摄像头。当装置800处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜***或具有焦距和光学变焦能力。The multimedia component 808 includes a screen that provides an output interface between the device 800 and the 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 input signals from the user. The touch panel includes one or more touch sensors to sense touch, sliding, 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 related to the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. When the device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
音频组件810被配置为输出和/或输入音频信号。例如，音频组件810包括一个麦克风(MIC)，当装置800处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器804或经由通信组件816发送。在一些实施例中，音频组件810还包括一个扬声器，用于输出音频信号。The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a microphone (MIC), and when the device 800 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive external audio signals. The received audio signal may be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, the audio component 810 further includes a speaker for outputting audio signals.
I/O接口812为处理组件802和***接口模块之间提供接口，上述***接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。The I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module. The above-mentioned peripheral interface module may be a keyboard, a click wheel, a button, and the like. These buttons may include, but are not limited to: home button, volume button, start button, and lock button.
传感器组件814包括一个或多个传感器，用于为装置800提供各个方面的状态评估。例如，传感器组件814可以检测到装置800的打开/关闭状态，组件的相对定位，例如所述组件为装置800的显示器和小键盘，传感器组件814还可以检测装置800或装置800一个组件的位置改变，用户与装置800接触的存在或不存在，装置800方位或加速/减速和装置800的温度变化。传感器组件814可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件814还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件814还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。The sensor component 814 includes one or more sensors for providing the device 800 with various aspects of status assessment. For example, the sensor component 814 can detect the open/close state of the device 800 and the relative positioning of the components. For example, the component is the display and the keypad of the device 800. The sensor component 814 can also detect the position change of the device 800 or a component of the device 800. , The presence or absence of contact between the user and the device 800, the orientation or acceleration/deceleration of the device 800, and the temperature change of the device 800. The sensor component 814 may include a proximity sensor configured to detect the presence of nearby objects when there is no physical contact. The sensor component 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
通信组件816被配置为便于装置800和其他设备之间有线或无线方式的通信。装置800可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件816经由广播信道接收来自外部广播管理***的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件816还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术， 超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。The communication component 816 is configured to facilitate wired or wireless communication between the device 800 and other devices. The device 800 can 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 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.
在示例性实施例中，装置800可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。In an exemplary embodiment, the apparatus 800 may be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing equipment (DSPD), programmable logic devices (PLD), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.
在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的存储器804，上述计算机程序指令可由装置800的处理器820执行以完成上述方法。In an exemplary embodiment, there is also provided a non-volatile computer-readable storage medium, such as a memory 804 including computer program instructions, which can be executed by the processor 820 of the device 800 to complete the foregoing method.
图6是根据一示例性实施例示出的一种用于基站切换的装置1900的框图。例如，装置1900可以被提供为一服务器。参照图6，装置1900包括处理组件1922，其进一步包括一个或多个处理器，以及由存储器1932所代表的存储器资源，用于存储可由处理组件1922的执行的指令，例如应用程序。存储器1932中存储的应用程序可以包括一个或一个以上的每一个对应于一组指令的模块。此外，处理组件1922被配置为执行指令，以执行上述方法。Fig. 6 is a block diagram showing a device 1900 for base station handover according to an exemplary embodiment. For example, the device 1900 may be provided as a server. 6, the apparatus 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by the memory 1932, for storing instructions executable by the processing component 1922, such as application programs. The application program stored in the memory 1932 may include one or more modules each corresponding to a set of instructions. In addition, the processing component 1922 is configured to execute instructions to perform the above-described methods.
装置1900还可以包括一个电源组件1926被配置为执行装置1900的电源管理，一个有线或无线网络接口1950被配置为将装置1900连接到网络，和一个输入输出(I/O)接口1958。装置1900可以操作基于存储在存储器1932的操作***，例如Windows ServerTM，Mac OS XTM，UnixTM，LinuxTM，FreeBSDTM或类似。The device 1900 may also include a power component 1926 configured to perform power management of the device 1900, a wired or wireless network interface 1950 configured to connect the device 1900 to a network, and an input output (I/O) interface 1958. The device 1900 can operate based on an operating system stored in the memory 1932, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM or the like.
在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的存储器1932，上述计算机程序指令可由装置1900的处理组件1922执行以完成上述方法。In an exemplary embodiment, there is also provided a non-volatile computer-readable storage medium, such as the memory 1932 including computer program instructions, which can be executed by the processing component 1922 of the device 1900 to complete the foregoing method.
本公开可以是***、方法和/或计算机程序产品。计算机程序产品可以包括计算机可读存储介质，其上载有用于使处理器实现本公开的各个方面的计算机可读程序指令。The present disclosure may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium loaded with computer-readable program instructions for enabling a processor to implement various aspects of the present disclosure.
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是——但不限于——电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(RAM)、 只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器(SRAM)、便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身，诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波(例如，通过光纤电缆的光脉冲)、或者通过电线传输的电信号。The computer-readable storage medium may be a tangible device that can hold and store instructions used by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) Or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a printer with instructions stored thereon The protruding structure in the hole card or the groove, and any suitable combination of the above. The computer-readable storage medium used here is not interpreted as the instantaneous signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (for example, light pulses through fiber optic cables), or through wires Transmission of electrical signals.
这里所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing/processing devices, or downloaded 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, optical fiber 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 the computer-readable storage medium in each computing/processing device .
用于执行本公开操作的计算机程序指令可以是汇编指令、指令集架构(ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言-诸如Smalltalk、C++等，以及常规的过程式编程语言-诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络-包括局域网(LAN)或广域网(WAN)-连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(FPGA)或可编程逻辑阵列(PLA)，该电子电路可以执行计算机可读程序指令，从而实现本公开的各个方面。The computer program instructions used to perform the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or in one or more programming languages. Source code or object code written in any combination, the programming language includes object-oriented programming languages-such as Smalltalk, C++, etc., and conventional procedural programming languages-such as "C" language or similar programming languages. Computer-readable program instructions can be executed entirely on the user's computer, partly on the user's computer, executed as a stand-alone software package, partly on the user's computer and partly executed on a remote computer, or entirely on the remote computer or server carried out. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network-including a local area network (LAN) or a wide area network (WAN)-or it can be connected to an external computer (for example, using an Internet service provider to connect to the user's computer). connection). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), can be customized by using the status information of the computer-readable program instructions. The computer-readable program instructions are executed to realize various aspects of the present disclosure.
这里参照根据本公开实施例的方法、装置(***)和计算机程序产品的流程图和/或框图描述了本公开的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。Various aspects of the present disclosure are described herein with reference to flowcharts and/or block diagrams of methods, apparatuses (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowcharts and/or block diagrams, and combinations of blocks in the flowcharts and/or block diagrams, can be implemented by computer-readable program instructions.
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。These computer-readable program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine that makes these instructions when executed by the processor of the computer or other programmable data processing device , A device that implements the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams is produced. It is also possible to store these computer-readable program instructions in a computer-readable storage medium. These instructions make computers, programmable data processing apparatuses, and/or other devices work in a specific manner. Thus, the computer-readable medium storing the instructions includes An article of manufacture, which includes instructions for implementing various aspects of the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。It is also possible to load computer-readable program instructions on a computer, other programmable data processing device, or other equipment, so that a series of operation steps are executed on the computer, other programmable data processing device, or other equipment to produce a computer-implemented process , So that the instructions executed on the computer, other programmable data processing apparatus, or other equipment realize the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.
附图中的流程图和框图显示了根据本公开的多个实施例的***、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的***来实现，或者可以用专用硬件与计算机指令的组合来实现。The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions, and operations of the system, method, and computer program product according to multiple embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or part of an instruction, and the module, program segment, or part of an instruction contains one or more components for realizing the specified logical function. Executable instructions. In some alternative implementations, the functions marked in the block may also occur in a different order than the order marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions Or it can be realized by a combination of dedicated hardware and computer instructions.
以上已经描述了本公开的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Without departing from the scope and spirit of the described embodiments, many modifications and changes are obvious to those of ordinary skill in the art. The choice of terms used herein is intended to best explain the principles, practical applications, or technical improvements of the technologies in the market, or to enable other ordinary skilled in the art to understand the embodiments disclosed herein.

Claims (16)

  1. 一种基站切换方法，其特征在于，所述方法应用于移动站，所述方法包括：A base station handover method, characterized in that the method is applied to a mobile station, and the method includes:
    移动站获取自身的实时位置后，向云端发送获取请求；其中，获取请求用于获取向移动站提供服务的第一基站，获取请求中携带有移动站的实时位置；所述第一基站为距离移动站最近的基站、并且移动站在第一基站的服务范围内；After acquiring its real-time location, the mobile station sends an acquisition request to the cloud; wherein the acquisition request is used to acquire the first base station that provides services to the mobile station, and the acquisition request carries the real-time location of the mobile station; the first base station is the distance The nearest base station of the mobile station, and the mobile station is within the service range of the first base station;
    接收云端响应于所述获取请求返回第一基站的标识信息；Receiving the identification information of the first base station returned by the cloud in response to the obtaining request;
    根据所述标识信息向云端反馈订阅第一基站的确认消息，订阅所述第一基站。According to the identification information, the confirmation message of subscribing to the first base station is fed back to the cloud to subscribe to the first base station.
  2. 根据权利要求1所述的方法，其特征在于，The method of claim 1, wherein:
    所述第一基站为距离移动站一定距离范围的一个或多个基站中的一个基站。The first base station is one of one or more base stations within a certain distance range from the mobile station.
  3. 根据权利要求1或2所述的方法，其特征在于，所述方法还包括：The method according to claim 1 or 2, wherein the method further comprises:
    从云端获取注册过的所有基站的位置信息；Obtain the location information of all registered base stations from the cloud;
    移动站根据自身的实时信息以及基站的位置信息，确定向移动站提供服务的第一基站。The mobile station determines the first base station that provides services to the mobile station based on its own real-time information and the location information of the base station.
  4. 根据权利要求3所述的方法，其特征在于，根据所述标识信息向云端反馈订阅第一基站的确认消息，订阅所述第一基站，包括：The method according to claim 3, wherein feeding back a confirmation message for subscribing to the first base station to the cloud according to the identification information, and subscribing to the first base station comprises:
    根据第一基站的标识信息向云端发送确认第一基站是否可用的确认请求；Sending a confirmation request to the cloud according to the identification information of the first base station to confirm whether the first base station is available;
    如果云端向移动站反馈的结果表明第一基站可用，则将服务切换到第一基站上。If the result of the cloud feedback to the mobile station indicates that the first base station is available, the service is switched to the first base station.
  5. 根据权利要求3所述的方法，其特征在于，所述方法还包括：The method according to claim 3, wherein the method further comprises:
    在接收到基站的位置信息后，根据移动站的实时位置和基站的位置信息判断距离移动站最近的基站是否为当前向移动站提供服务的基站，若不是，则订阅距离移动站最近的基站发布的数据。After receiving the location information of the base station, according to the real-time location of the mobile station and the location information of the base station, determine whether the base station closest to the mobile station is the base station currently serving the mobile station. If not, subscribe to the announcement of the base station closest to the mobile station. The data.
  6. 根据权利要求1-3任意一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-3, wherein the method further comprises:
    若在距离最近一次接收到第一基站发布的数据之后的预定时间段内未接收到新的数据，向云端发送获取请求或者从云端获取注册过的所有基站的位置信息，以重新确定距离移动站最近的基站。If no new data is received within a predetermined period of time after the most recent reception of the data issued by the first base station, send an acquisition request to the cloud or obtain the location information of all registered base stations from the cloud to re-determine the distance to the mobile station The nearest base station.
  7. 根据权利要求1-3任意一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-3, wherein the method further comprises:
    若在距离最近一次接收到第一基站发布的数据之后的预定时间段内接收到新的数据，根据新的数据进行实时的定位得到实时位置；If new data is received within a predetermined time period after the last time the data issued by the first base station is received, real-time positioning is performed according to the new data to obtain the real-time position;
    向云端发送获取请求或者从云端获取注册过的所有基站的位置信息，以根据所述实时位置和基站的位置信息重新确定距离移动站最近的基站。Send an acquisition request to the cloud or acquire the location information of all registered base stations from the cloud, so as to re-determine the base station closest to the mobile station according to the real-time location and the location information of the base station.
  8. 一种基站切换方法，其特征在于，所述方法应用于云端，所述方法包括：A base station handover method, characterized in that the method is applied to the cloud, and the method includes:
    接收移动站发送的获取请求，其中，获取请求中携带有移动站的实时位置；Receiving an acquisition request sent by a mobile station, where the acquisition request carries the real-time location of the mobile station;
    根据移动站的实时位置以及云端本地存储的基站的位置信息，确定向移动站提供服务的第一基站，所述第一基站为距离移动站最近的基站、并且移动站在第一基站的服务范围内；According to the real-time location of the mobile station and the location information of the base station stored locally in the cloud, the first base station that provides services to the mobile station is determined. The first base station is the base station closest to the mobile station and the service range of the first base station of the mobile station Inside;
    向移动站发送第一基站的标识信息；Sending the identification information of the first base station to the mobile station;
    接收移动站发送的订阅第一基站的确认消息，记录第一基站和所述移动站之间的服务关系。Receive a confirmation message for subscribing to the first base station sent by the mobile station, and record the service relationship between the first base station and the mobile station.
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：The method according to claim 8, wherein the method further comprises:
    向移动站发送本地存储的基站的位置信息，以使移动站根据移动站自身的实时位置以及基站的位置信息，确定向移动站提供服务的第一基站。The locally stored location information of the base station is sent to the mobile station, so that the mobile station determines the first base station that provides service to the mobile station based on the real-time location of the mobile station itself and the location information of the base station.
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：The method according to claim 9, wherein the method further comprises:
    接收移动站发送的确认第一基站是否可用的确认请求；Receiving a confirmation request sent by the mobile station to confirm whether the first base station is available;
    向移动站反馈第一基站可用的结果，以使移动站将服务切换到第一基站上。The result that the first base station is available is fed back to the mobile station, so that the mobile station switches the service to the first base station.
  11. 根据权利要求8所述的方法，其特征在于，向移动站发送第一基站的标识信息，包括：The method according to claim 8, wherein sending the identification information of the first base station to the mobile station comprises:
    判断第一基站是否为当前向移动站提供服务的基站；Judging whether the first base station is a base station currently providing services to the mobile station;
    若不是，向移动站发送第一基站的标识信息。If not, send the identification information of the first base station to the mobile station.
  12. 根据权利要求8所述的方法，其特征在于，根据移动站的实时位置以及云端本地存储的基站的位置信息，确定向移动站提供服务的第一基站，包括：The method according to claim 8, characterized in that determining the first base station that provides services to the mobile station according to the real-time location of the mobile station and the location information of the base station stored locally in the cloud, comprising:
    根据移动站的实时位置以及云端本地存储的基站的位置信息，确定距离移动站一定距离范围内的一个或者多个基站，并且移动站在所述一个或多个基站的服务范围内；According to the real-time location of the mobile station and the location information of the base station stored locally in the cloud, determine one or more base stations within a certain distance from the mobile station, and the mobile station is within the service range of the one or more base stations;
    云端从所述一个或多个基站中确定出一个基站作为向所述移动站提供服务的第一基站。The cloud determines a base station from the one or more base stations as the first base station that provides services to the mobile station.
  13. 根据权利要求8所述的方法，其特征在于，所述方法还包括：The method according to claim 8, wherein the method further comprises:
    若云端确定出距离移动站一定范围的一个或多个基站或者确定出距离移动站最近的基站，但是移动站不在所述一个或多个基站或者距离移动站最近的基站的服务范围内，切换至网络RTK模式，为移动站计算虚拟基站。If the cloud determines one or more base stations within a certain range from the mobile station or determines the base station closest to the mobile station, but the mobile station is not within the service range of the one or more base stations or the base station closest to the mobile station, switch to The network RTK mode calculates the virtual base station for the mobile station.
  14. 根据权利要求8-13任意一项所述的方法，其特征在于，The method according to any one of claims 8-13, wherein:
    若云端检测到异常基站，则确定向所述异常基站服务的移动站提供服务的第二基站，所述第二基站为距离所述异常基站最近的基站，或者，所述第二基站为距离所述异常基站服务的移动站最近的基站。If an abnormal base station is detected in the cloud, the second base station that provides services to the mobile station served by the abnormal base station is determined. The second base station is the base station closest to the abnormal base station, or the second base station is located at a distance from the abnormal base station. The nearest base station of the mobile station served by the abnormal base station.
    向所述异常基站服务的移动站发送第二基站的标识信息，以使所述异常基站服务的移动站订阅所述第二基站。The identification information of the second base station is sent to the mobile station served by the abnormal base station, so that the mobile station served by the abnormal base station subscribes to the second base station.
  15. 一种基站切换装置，其特征在于，包括：A base station switching device, characterized in that it comprises:
    处理器；processor;
    用于存储处理器可执行指令的存储器；A memory for storing processor executable instructions;
    其中，所述处理器被配置为执行指令时实现权利要求1-7任意一项所述的方法，或者，所述处理器被配置为执行指令时实现权利要求8-14任意一项所述的方法。Wherein, the processor is configured to implement the method described in any one of claims 1-7 when executing instructions, or the processor is configured to implement the method described in any one of claims 8-14 when executing instructions method.
  16. 一种非易失性计算机可读存储介质，其上存储有计算机程序指令，其特征在于，所述计算机程序指令被处理器执行时实现权利要求1-7任意一项所述的方法，或者，所述计算机程序指令被处理器执行时实现权利要求8-14任意一项所述的方法。A non-volatile computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions implement the method of any one of claims 1-7 when executed by a processor, or, When the computer program instructions are executed by a processor, the method according to any one of claims 8-14 is implemented.
PCT/CN2020/119446 2019-09-30 2020-09-30 Base station switching method, apparatus, and readable storage medium WO2021063398A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910940815.0 2019-09-30
CN201910940815 2019-09-30

Publications (1)

Publication Number Publication Date
WO2021063398A1 true WO2021063398A1 (en) 2021-04-08

Family

ID=75120226

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/119446 WO2021063398A1 (en) 2019-09-30 2020-09-30 Base station switching method, apparatus, and readable storage medium

Country Status (2)

Country Link
CN (1) CN112584454A (en)
WO (1) WO2021063398A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113407569A (en) * 2021-06-29 2021-09-17 北京小米移动软件有限公司 Information processing method, device and storage medium
EP4302587A1 (en) * 2022-07-08 2024-01-10 Willand (Beijing) Technology Co., Ltd. Method for switching base station of mower, mower and multi-base station working system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104977596A (en) * 2015-06-08 2015-10-14 深圳北斗应用技术研究院有限公司 High-accuracy position correction positioning system based on cloud computing
US20170018184A1 (en) * 2012-06-22 2017-01-19 James L. Northrup System and method for placing virtual geographic zone markers
CN107710017A (en) * 2015-06-29 2018-02-16 迪尔公司 For the satellite navigation receiver and method switched between real time kinematics pattern and relative positioning mode
CN108519612A (en) * 2018-03-01 2018-09-11 千寻位置网络有限公司 Network RTK switching methods
CN109085621A (en) * 2018-07-19 2018-12-25 百度在线网络技术（北京）有限公司 GNSS base station switching method, device, equipment and storage medium

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170018184A1 (en) * 2012-06-22 2017-01-19 James L. Northrup System and method for placing virtual geographic zone markers
CN104977596A (en) * 2015-06-08 2015-10-14 深圳北斗应用技术研究院有限公司 High-accuracy position correction positioning system based on cloud computing
CN107710017A (en) * 2015-06-29 2018-02-16 迪尔公司 For the satellite navigation receiver and method switched between real time kinematics pattern and relative positioning mode
CN108519612A (en) * 2018-03-01 2018-09-11 千寻位置网络有限公司 Network RTK switching methods
CN109085621A (en) * 2018-07-19 2018-12-25 百度在线网络技术（北京）有限公司 GNSS base station switching method, device, equipment and storage medium

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113407569A (en) * 2021-06-29 2021-09-17 北京小米移动软件有限公司 Information processing method, device and storage medium
EP4302587A1 (en) * 2022-07-08 2024-01-10 Willand (Beijing) Technology Co., Ltd. Method for switching base station of mower, mower and multi-base station working system
US11983014B2 (en) 2022-07-08 2024-05-14 Willand (Beijing) Technology Co., Ltd. Method for switching base station of mower, mower and multi-base station working system

Also Published As

Publication number Publication date
CN112584454A (en) 2021-03-30

Similar Documents

Publication Publication Date Title
WO2019144387A1 (en) Information configuration method and device, method and device for determining time-frequency location, and base station
US11206522B2 (en) Method and device for equipment management
WO2021063398A1 (en) Base station switching method, apparatus, and readable storage medium
CN107635074B (en) Method, apparatus and computer-readable storage medium for controlling alarm
US20160269286A1 (en) Method and apparatus for transmitting data in network system
JP2017531977A (en) Message transmission method, apparatus, terminal, router, program, and recording medium
WO2019104540A1 (en) Transmission capability update method and apparatus
US20220070949A1 (en) User device pairing method and apparatus
CN109075856B (en) Flight path configuration method and device
US11546781B2 (en) Information reporting and configuration method and device, user equipment and base station
US11864190B2 (en) Method and apparatus for configuring and determining transmission block scheduling interval, and base station
WO2021233381A1 (en) Data processing method and apparatus, device, and storage medium
WO2018218444A1 (en) Measurement signal receiving and reporting methods and apparatuses, base station and user equipment
US20240125917A1 (en) Ranging method and apparatus, and user equipment and storage medium
WO2020223931A1 (en) Cell handover method and apparatus, handover configuration method and apparatus, and user equipment
KR101851613B1 (en) Method, apparatus, program and recording medium for installing application and smart device using the same
WO2019174046A1 (en) Method and apparatus for indicating and searching for position of synchronous broadcast block of defined cell, and base station
KR102318796B1 (en) Base station access method and apparatus
CN107168731B (en) System update control method and device
CN110169107B (en) Method and device for realizing wireless network edge calculation
CN113163467B (en) Node hop count updating method, device, terminal and storage medium in Mesh network
CN111064669B (en) Route storage method, device, equipment and storage medium
WO2021088997A1 (en) Positioning network establishing method and device
CN110996047A (en) Pet tracking shooting method, device and system and computer readable storage medium
CN106714280B (en) Terminal positioning method and device

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20872258

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20872258

Country of ref document: EP

Kind code of ref document: A1