CN110133690A - Localization method and GPS switching device based on GPS - Google Patents
Localization method and GPS switching device based on GPS Download PDFInfo
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- CN110133690A CN110133690A CN201810132636.XA CN201810132636A CN110133690A CN 110133690 A CN110133690 A CN 110133690A CN 201810132636 A CN201810132636 A CN 201810132636A CN 110133690 A CN110133690 A CN 110133690A
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- Prior art keywords
- gps chip
- location information
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the present invention provides a kind of localization method based on GPS and GPS switching device, wherein, this method is suitable for a kind of terminal device, which includes the first GPS chip and the second GPS chip, this method comprises: receiving the location information that first GPS chip reports；If the location information that first GPS chip reports within a preset time is invalid, it is switched to second GPS chip, is positioned by second GPS chip.Method and device provided in an embodiment of the present invention can be improved the real-time, reliability and continuity of positioning.
Description
Technical field
The present embodiments relate to field of locating technology more particularly to a kind of localization method and GPS based on GPS to switch dress
It sets.
Background technique
Existing terminal device is essentially all to provide the user with location based service using built-in GPS chip.It removes
Outside built-in GPS chip, the modes such as section terminating equipment can also be connected by serial ports are provided using external GPS device is based on position
The service set.
But it is circumscribed with the terminal device of GPS device, it can only be filled by built-in GPS chip or external GPS in synchronization
Offer location based service is set, if the built-in GPS chip at a time used or the search of external GPS device are defended less than GPS
When star, it will cause the not available problems of positioning service.
Summary of the invention
The embodiment of the present invention provides a kind of localization method based on GPS and GPS switching device, to improve GPS positioning
Real-time, reliability and continuity enhance user experience.
First aspect of the embodiment of the present invention provides a kind of localization method based on GPS, and this method is suitable for a kind of terminal and sets
Standby, which includes the first GPS chip and the second GPS chip, this method comprises:
Receive the location information that first GPS chip reports；
If the location information that first GPS chip reports within a preset time is invalid, it is switched to the 2nd GPS
Chip is positioned by second GPS chip.
Optionally, when the format of the location information reported when first GPS chip and preset format mismatch, described the
The location information that one GPS chip reports is invalid.
Optionally, when the location information that first GPS chip reports reports the positioning with first GPS chip
When the difference of another location information reported in predetermined time period before information is more than preset range, the first GPS core
The location information that piece reports is invalid.
Optionally, the method also includes:
If the location information that first GPS chip reports is effective, the location information is sent to target application, with
The target application is set to use the location information.
Optionally, it if the location information that reports within a preset time of first GPS chip is invalid, is switched to
Second GPS chip is positioned by second GPS chip, comprising:
If the location information that first GPS chip reports within a preset time is invalid, export to user for mentioning
Show the prompt information for enabling second GPS chip；
If detecting the information for being used to indicate to enable second GPS chip of user's input, it is switched to described
Second GPS chip is positioned by second GPS chip.
Second aspect of the embodiment of the present invention provides a kind of GPS switching device, and the GPS switching device is mounted on terminal device
In, the terminal device includes the first GPS chip and the second GPS chip, the GPS switching device, comprising:
Receiving module, the location information reported for receiving first GPS chip；
Switching module is switched to when the location information reported within a preset time for first GPS chip is invalid
Second GPS chip is positioned by second GPS chip.
Optionally, when the format of the location information reported when first GPS chip and preset format mismatch, described the
The location information that one GPS chip reports is invalid.
Optionally, when the location information that first GPS chip reports reports the positioning with first GPS chip
When the difference of another location information reported in predetermined time period before information is more than preset range, the first GPS core
The location information that piece reports is invalid.
Optionally, described device further include:
Sending module sends the location information when location information for reporting in first GPS chip is effective
To target application, so that the target application uses the location information.
Optionally, the switching module includes:
Output sub-module, when the location information for reporting within a preset time in first GPS chip is invalid, to
User's output is used to prompt to enable the prompt information of second GPS chip；
Implementation sub-module, in the letter for being used to indicate to enable second GPS chip for detecting user's input
When breath, it is switched to second GPS chip, is positioned by second GPS chip.
The embodiment of the present invention, the location information reported by receiving the first GPS chip, if the first GPS chip is when default
The interior location information reported is invalid, then is switched to the second GPS chip, is positioned by the second GPS chip, so that
When the first GPS chip cannot achieve positioning, it can be positioned by the second GPS chip on terminal device, improve GPS
Real-time, reliability and the continuity of positioning, enhance user experience.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of localization method based on GPS provided in an embodiment of the present invention；
Fig. 2 is the flow chart of another localization method based on GPS provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of GPS switching device provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of GPS switching device provided in an embodiment of the present invention；
Fig. 5 is a kind of block diagram of terminal device provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The term " includes " of description and claims of this specification and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, the device of the process or structure that contain series of steps is not necessarily limited to clearly arrange
Those of out structure or step but may include other steps being not clearly listed or intrinsic for these processes or device
Rapid or structure.
Fig. 1 is a kind of flow chart of localization method based on GPS provided in an embodiment of the present invention, and this method can be by one kind
GPS switching device (hereinafter referred to as switching device) Lai Zhihang, the switching device are mounted in terminal device, which includes
First GPS chip and the second GPS chip.Wherein, the first GPS chip and the second GPS chip can be same be placed in terminal device
GPS chip, be also possible to be built in terminal device with the GPS chip that is placed in outside terminal device or the first GPS chip,
Second GPS chip is external on the terminal device by the communication interface on terminal device.The present embodiment is with a kind of last situation
Example, as shown in Figure 1, this method comprises:
Step 101 receives the location information that first GPS chip reports.
If the location information that step 102, first GPS chip report within a preset time is invalid, it is switched to institute
The second GPS chip is stated, is positioned by second GPS chip.
It is positioned first by the first GPS chip in the present embodiment, in the location information that the first GPS chip is obtained
Offer GPS switching device.GPS switching device after receiving the location information that the first GPS chip reports, according to the following method in
One or more pairs of location informations detect:
In a kind of possible method, format and the preset format progress for the location information that the first GPS chip is reported
Match, if the format of location information and preset format mismatch, it is determined that location information is invalid.
In second of possible method, location information and the first GPS chip that the first GPS chip reports are reported this
Another location information reported in predetermined time period before location information is compared, if the position disparity of the two is more than pre-
If range, it is determined that the location information that the first GPS chip reports is invalid.For example, positioning of first GPS chip at the first moment is
Haidian District Beijing, the positioning in predetermined time period (such as 1 second) before the first moment is Chaoyang District Beijing, it is determined that the
One GPS chip is invalid in the location information at the first moment.Certainly it is only for illustrating, rather than to unique limit of the invention
It is fixed.
In the third possible method, whether the location information that the first GPS chip of detection reports is sky, if it is empty, then
The location information for determining that the first GPS chip reports is invalid.
Further, when the location information that the first GPS chip that GPS switching device receives reports is invalid information,
GPS switching device opens the monitoring of location information reported to the first GPS chip, if the first GPS chip within a preset time on
The location information of report is invalid, then is switched to the second GPS chip from the first GPS chip, is positioned by the second GPS chip.
Alternatively, can also pass through when the location information for detecting that the first GPS chip reports within a preset time is invalid
To user's input for prompting user to enable the prompting message of the second GPS chip, so that user is according to prompting message selection
The second GPS chip of no enabling, and when detecting the information for being used to indicate to enable the second GPS chip of user's input, from first
GPS chip is switched to the second GPS chip, is positioned by the second GPS chip.
Further, if GPS switching device receives the effective positioning letter that the first GPS chip reports within a preset time
Breath, then be sent to target application for the location information, so that target application is able to use the location information.Wherein, target
Using to need to provide the application of service based on location information, for example, target application can be electronic map or take away service available clothes
Any application of business, but it is not limited to these applications.
The present embodiment, the location information reported by receiving the first GPS chip, if the first GPS chip is within a preset time
The location information reported is invalid, then is switched to the second GPS chip, is positioned by the second GPS chip, so that
When one GPS chip cannot achieve positioning, it can be positioned by the second GPS chip on terminal device, improve GPS positioning
Real-time, reliability and continuity, enhance user experience.
Fig. 2 is the flow chart of another localization method based on GPS provided in an embodiment of the present invention, as shown in Fig. 2, scheming
On the basis of 1 embodiment, this method comprises:
Step S1, the location information that the first GPS chip reports is received.
Step S2, whether effective the location information is determined, it is no to then follow the steps S4 if effectively thening follow the steps S3.
Step S3, the location information is sent to target application.
Step S4, whether detection timer starts, if the timer is inactive, thens follow the steps S5, otherwise executes step
Rapid S6.
Step S5, start the timer, and jump to step S1 continue the location information that the first GPS chip is reported into
Row judgement.
Step S6, whether overtime judge the timer, if so, thening follow the steps S7, otherwise, jump to step S1 continuation
The location information reported to the first GPS chip judges.
Step S7, stop the timer, be switched to the second GPS chip and positioned, and jump to step S1, to second
The location information that GPS chip reports is judged.
The present embodiment, the location information reported by receiving the first GPS chip, if the first GPS chip is within a preset time
The location information reported is invalid, then is switched to the second GPS chip, is positioned by the second GPS chip, so that
When one GPS chip cannot achieve positioning, it can be positioned by the second GPS chip on terminal device, improve GPS positioning
Real-time, reliability and continuity, enhance user experience.
Fig. 3 is a kind of structural schematic diagram of GPS switching device provided in an embodiment of the present invention, as shown in figure 3, GPS switches
Device 11 is arranged in terminal device 10, and terminal device 10 includes the first GPS chip 12 and the second GPS chip 13, GPS switching dress
It sets 11 to communicate to connect with the first GPS chip 12 and the second GPS chip 13 respectively, wherein GPS switching device 11 includes:
Receiving module 111, the location information reported for receiving first GPS chip；
Switching module 112 is cut when the location information reported within a preset time for first GPS chip is invalid
Second GPS chip is changed to, is positioned by second GPS chip.
Optionally, when the format of the location information reported when first GPS chip and preset format mismatch, described the
The location information that one GPS chip reports is invalid.
Optionally, when the location information that first GPS chip reports reports the positioning with first GPS chip
When the difference of another location information reported in predetermined time period before information is more than preset range, the first GPS core
The location information that piece reports is invalid.
It optionally, further include target application 14, described device in the terminal device 10 further include:
Sending module 113, when the location information for reporting in first GPS chip is effective, by the location information
It is sent to target application 14, so that the target application uses the location information.
Optionally, the switching module 112 includes:
Output sub-module, when the location information for reporting within a preset time in first GPS chip is invalid, to
User's output is used to prompt to enable the prompt information of second GPS chip；
Implementation sub-module, in the letter for being used to indicate to enable second GPS chip for detecting user's input
When breath, it is switched to second GPS chip, is positioned by second GPS chip.
GPS switching device provided in this embodiment can be used in the method for executing Fig. 1 embodiment, executive mode and beneficial
Effect is similar, repeats no more herein.
Fig. 4 is a kind of structural schematic diagram of GPS switching device provided in an embodiment of the present invention, as shown in figure 4, the GPS is cut
Changing device includes:
Processor；
For storing the memory of the processor-executable instruction；
When the processor executes the executable instruction, perform the following operations:
Receive the location information that the first GPS chip reports；
If the location information that first GPS chip reports within a preset time is invalid, it is switched to the 2nd GPS core
Piece is positioned by the second GPS chip.
The present embodiment, the location information reported by receiving the first GPS chip, if the first GPS chip is within a preset time
The location information reported is invalid, then is switched to the second GPS chip, is positioned by the second GPS chip, so that
When one GPS chip cannot achieve positioning, it can be positioned by the second GPS chip on terminal device, improve GPS positioning
Real-time, reliability and continuity, enhance user experience.
Fig. 5 is a kind of block diagram of terminal device provided in an embodiment of the present invention.For example, terminal device 800 can be movement
Phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, Medical Devices, body-building equipment,
Personal digital assistant etc..
Referring to Fig. 5, terminal device 800 may include following one or more components: processing component 802, memory 804,
Power supply module 806, multimedia component 808, audio component 810, the interface 812 of input/output (I/O), sensor module 814,
And communication component 816.
The integrated operation of the usual controlling terminal equipment 800 of processing component 802, such as with display, call, data are logical
Letter, camera operation and record operate associated operation.Processing component 802 may include one or more processors 820 to hold
Row instruction, to perform all or part of the steps of the methods described above.In addition, processing component 802 may include one or more moulds
Block, convenient for the interaction between processing component 802 and other assemblies.For example, processing component 802 may include multi-media module, with
Facilitate the interaction between multimedia component 808 and processing component 802.
Memory 804 is configured as storing various types of data to support the operation in equipment 800.These data are shown
Example includes the instruction of any application or method for operating on terminal device 800, contact data, telephone directory number
According to, message, picture, video etc..Memory 804 can by any kind of volatibility or non-volatile memory device or they
Combination realize, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM) is erasable
Programmable read only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, quick flashing
Memory, disk or CD.
Power supply module 806 provides electric power for the various assemblies of terminal device 800.Power supply module 806 may include power supply pipe
Reason system, one or more power supplys and other with for terminal device 800 generate, manage, and distribute the associated component of electric power.
Multimedia component 808 includes the screen of one output interface of offer between the terminal device 800 and user.
In some embodiments, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch surface
Plate, screen may be implemented as touch screen, to receive input signal from the user.Touch panel includes one or more touches
Sensor is to sense the gesture on touch, slide, and touch panel.The touch sensor can not only sense touch or sliding
The boundary of movement, but also detect duration and pressure associated with the touch or slide operation.In some embodiments,
Multimedia component 808 includes a front camera and/or rear camera.When equipment 800 is in operation mode, as shot mould
When formula or video mode, front camera and/or rear camera can receive external multi-medium data.Each preposition camera shooting
Head and rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio component 810 is configured as output and/or input audio signal.For example, audio component 810 includes a Mike
Wind (MIC), when terminal device 800 is in operation mode, when such as call mode, recording mode, and voice recognition mode, microphone
It is configured as receiving external audio signal.The received audio signal can be further stored in memory 804 or via logical
Believe that component 816 is sent.In some embodiments, audio component 810 further includes a loudspeaker, is used for output audio signal.
I/O interface 812 provides interface between processing component 802 and peripheral interface module, and above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include, but are not limited to: home button, volume button, start button and lock
Determine button.
Sensor module 814 includes one or more sensors, for providing the state of various aspects for terminal device 800
Assessment.For example, sensor module 814 can detecte the state that opens/closes of equipment 800, the relative positioning of component, such as institute
The display and keypad that component is terminal device 800 are stated, sensor module 814 can also detect terminal device 800 or terminal
The position change of 800 1 components of equipment, the existence or non-existence that user contacts with terminal device 800,800 orientation of terminal device
Or the temperature change of acceleration/deceleration and terminal device 800.Sensor module 814 may include proximity sensor, be configured to
It detects the presence of nearby objects without any physical contact.Sensor module 814 can also include optical sensor, such as
CMOS or ccd image sensor, for being used in imaging applications.In some embodiments, which can be with
Including acceleration transducer, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 816 is configured to facilitate the communication of wired or wireless way between terminal device 800 and other equipment.
Terminal device 800 can access the wireless network based on communication standard, such as WiFi, 2G or 3G or their combination.Show at one
In example property embodiment, communication component 816 receives broadcast singal or broadcast from external broadcasting management system via broadcast channel
Relevant information.In one exemplary embodiment, the communication component 816 further includes near-field communication (NFC) module, short to promote
Cheng Tongxin.For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band can be based in NFC module
(UWB) technology, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, terminal device 800 can be by one or more application specific integrated circuit (ASIC), number
Word signal processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing the above method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided
It such as include the memory 804 of instruction, above-metioned instruction can be executed by the processor 820 of terminal device 800 to complete the above method.Example
Such as, the non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, soft
Disk and optical data storage devices etc..
A kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium is by the processing of terminal device
When device executes, so that terminal device is able to carry out a kind of localization method based on GPS, which comprises
Receive the location information that the first GPS chip reports；
If the location information that first GPS chip reports within a preset time is invalid, it is switched to the 2nd GPS core
Piece is positioned by second GPS chip.
Finally, it should be noted that those of ordinary skill in the art will appreciate that whole in above-described embodiment method or
Part process is that relevant hardware can be instructed to complete by computer program, and the program can be stored in a computer
In readable storage medium storing program for executing, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, described to deposit
Storage media can be disk, CD, read-only memory (ROM) or random access memory (RAM) etc..
Each functional unit in the embodiment of the present invention can integrate in a processing module, be also possible to each unit
It is individually physically present, can also be integrated in two or more units in a module.Above-mentioned integrated module both can be with
Using formal implementation of hardware, can also be realized in the form of software function module.If the integrated module is with software
The form of functional module realizes, and when sold or used as an independent product, also can store and computer-readable deposits at one
In storage media.Storage medium mentioned above can be read-only memory, disk or CD etc..
The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；Although referring to aforementioned each reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified, or equivalent substitution of some or all of the technical features；And
These are modified or replaceed, the range for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of localization method based on GPS, this method is suitable for a kind of terminal device, which includes the first GPS core
Piece and the second GPS chip, which is characterized in that this method comprises:
Receive the location information that first GPS chip reports；
If the location information that first GPS chip reports within a preset time is invalid, it is switched to the 2nd GPS core
Piece is positioned by second GPS chip.
2. the method according to claim 1, wherein working as the lattice for the location information that first GPS chip reports
When formula and preset format mismatch, the location information that first GPS chip reports is invalid.
3. the method according to claim 1, wherein working as the location information and institute that first GPS chip reports
The difference for stating another location information that the first GPS chip reports in the predetermined time period before reporting the location information is super
When crossing preset range, the location information that first GPS chip reports is invalid.
4. according to the method in claim 2 or 3, which is characterized in that the method also includes:
If the location information that first GPS chip reports is effective, the location information is sent to target application, so that institute
It states target application and uses the location information.
If 5. the method according to claim 1, wherein first GPS chip within a preset time on
The location information of report is invalid, then is switched to second GPS chip, is positioned by second GPS chip, comprising:
If the location information that first GPS chip reports within a preset time is invalid, opened to user's output for prompting
With the prompt information of second GPS chip；
If detecting the information for being used to indicate to enable second GPS chip of user's input, it is switched to described second
GPS chip is positioned by second GPS chip.
6. a kind of GPS switching device, the GPS switching device is mounted in terminal device, and the terminal device includes the first GPS
Chip and the second GPS chip, which is characterized in that the GPS switching device, comprising:
Receiving module, the location information reported for receiving first GPS chip；
Switching module when the location information reported within a preset time for first GPS chip is invalid, is switched to described
Second GPS chip is positioned by second GPS chip.
7. device according to claim 6, which is characterized in that when the lattice for the location information that first GPS chip reports
When formula and preset format mismatch, the location information that first GPS chip reports is invalid.
8. device according to claim 6, which is characterized in that the location information reported when first GPS chip and institute
The difference for stating another location information that the first GPS chip reports in the predetermined time period before reporting the location information is super
When crossing preset range, the location information that first GPS chip reports is invalid.
9. device according to claim 7 or 8, which is characterized in that described device further include:
The location information when location information for reporting in first GPS chip is effective, is sent to mesh by sending module
Mark application, so that the target application uses the location information.
10. device according to claim 6, which is characterized in that the switching module includes:
Output sub-module, when the location information for reporting within a preset time in first GPS chip is invalid, to user
Output is used to prompt to enable the prompt information of second GPS chip；
Implementation sub-module, for detecting when being used to indicate to enable the information of second GPS chip of user's input,
It is switched to second GPS chip, is positioned by second GPS chip.
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| CN111158030A (en) * | 2020-01-17 | 2020-05-15 | 珠海格力电器股份有限公司 | Satellite positioning method and device |
| CN112444835A (en) * | 2020-12-23 | 2021-03-05 | 卡斯柯信号有限公司 | Redundant train satellite positioning implementation method and device based on train tail equipment |
| CN112444835B (en) * | 2020-12-23 | 2022-07-15 | 卡斯柯信号有限公司 | Redundant train satellite positioning implementation method and device based on train tail equipment |
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