CN112584454A

CN112584454A - Base station switching method and device and readable storage medium

Info

Publication number: CN112584454A
Application number: CN202011061004.2A
Authority: CN
Inventors: 何明明; 吴双龙
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2019-09-30
Filing date: 2020-09-30
Publication date: 2021-03-30
Also published as: WO2021063398A1

Abstract

The disclosure relates to a base station switching method, a base station switching device and a readable storage medium. In the case that a plurality of base stations serve the mobile station, the base station switching method according to the embodiment of the present disclosure may enable the mobile station to acquire the base station closest to the current position from the cloud and switch to the base station, so as to improve the positioning accuracy in the working process of the mobile station. When the base station is abnormal, the mobile station serving the abnormal base station can be quickly switched to the normal base station, and the uninterrupted and high-precision positioning is realized.

Description

Base station switching method and device and readable storage medium

Technical Field

The present disclosure relates to the field of communications technologies, and in particular, to a method and an apparatus for switching a base station, and a readable storage medium.

Background

Positioning user equipment by using a Real-time kinematic (RTK) base station is a common satellite positioning measurement method, the former static, rapid static and dynamic measurements all need to be solved afterwards to obtain centimeter-level precision, the positioning by using the RTK base station is a measurement method capable of obtaining centimeter-level positioning precision in Real time in the field, a carrier phase dynamic Real-time difference method is adopted, the RTK base station is a major milestone applied to a Global Positioning System (GPS), the RTK base station is a project lofting and terrain mapping, various control measurements bring new measurement principles and methods, and the operation efficiency is greatly improved.

When an RTK base station serves as a shared device to provide services for a plurality of mobile stations, the base station may fail due to power failure, damage, upgrade, and the like during operation, and the mobile station may not perform high-precision positioning, positioning error, and the like after the base station fails. When the mobile station is too far from the base station, positioning errors become large.

In an example scenario, in the related art, the mowing robot performs positioning by using a positioning service provided by a base station of a communication network, so as to realize accurate control over a working area, and in practical application, the requirement on positioning accuracy is high. However, if the base station fails due to power failure, damage, upgrading and the like, the mowing robot is abnormally positioned, and wireless high-precision positioning or positioning error occurs, so that working errors are caused.

Disclosure of Invention

In view of this, the present disclosure provides a base station handover method and apparatus. In the case that a plurality of base stations serve the mobile station, the base station switching method according to the embodiment of the present disclosure may enable the mobile station to acquire the base station closest to the current position from the cloud and switch to the base station, so as to improve the positioning accuracy in the working process of the mobile station. In addition, when the base station is abnormal, the mobile station serving the abnormal base station can be quickly switched to the normal base station, and uninterrupted and high-precision positioning is realized.

In a first aspect, a base station handover method is provided, where the method is applied to a mobile station, and the method includes:

after acquiring the real-time position of the mobile station, the mobile station sends an acquisition request to a cloud terminal; the obtaining request is used for obtaining a first base station providing service for the mobile station, and the obtaining request carries the real-time position of the mobile station; the first base station is the base station closest to the mobile station, and the mobile station is in the service range of the first base station;

the receiving cloud end returns the identification information of the first base station in response to the acquisition request;

and feeding back a confirmation message for subscribing the first base station to the cloud according to the identification information, and subscribing the first base station.

With reference to the first aspect, in a first possible implementation manner, the first base station is one of one or more base stations that are located within a certain distance range from a mobile station.

In one possible implementation, the method further includes:

acquiring the position information of all registered base stations from the cloud;

the mobile station determines a first base station providing service to the mobile station according to the real-time information of the mobile station and the position information of the base station.

In a possible implementation manner, feeding back a confirmation message of subscribing to the first base station to a cloud according to the identification information, and subscribing to the first base station includes:

sending a confirmation request for confirming whether the first base station is available to the cloud end according to the identification information of the first base station;

and if the result fed back to the mobile station by the cloud terminal indicates that the first base station is available, switching the service to the first base station.

In one possible implementation, the method further includes:

after receiving the position information of the base station, judging whether the base station closest to the mobile station is the base station providing service for the mobile station currently according to the real-time position of the mobile station and the position information of the base station, and if not, subscribing the data released by the base station closest to the mobile station.

In one possible implementation, the method further includes:

and if no new data is received within a preset time period after the data issued by the first base station is received for the last time, sending an acquisition request to the cloud end or acquiring the position information of all registered base stations from the cloud end so as to re-determine the base station closest to the mobile station.

In one possible implementation, the method further includes:

if new data are received within a preset time period after the data issued by the first base station are received for the last time, real-time positioning is carried out according to the new data to obtain a real-time position;

and sending an acquisition request to the cloud or acquiring the position information of all the registered base stations from the cloud so as to re-determine the base station closest to the mobile station according to the real-time position and the position information of the base stations.

In a possible implementation manner, the mobile station acquiring its real-time position may refer to acquiring its real-time position when the mobile station is powered on, or performing real-time positioning update on the mobile station according to data issued by the first base station.

In a second aspect, a base station handover method is provided, where the method is applied to a cloud, and the method includes:

receiving an acquisition request sent by a mobile station, wherein the acquisition request carries the real-time position of the mobile station;

determining a first base station providing service for the mobile station according to the real-time position of the mobile station and position information of base stations locally stored in a cloud end, wherein the first base station is the base station closest to the mobile station and the mobile station is in the service range of the first base station;

transmitting identification information of the first base station to the mobile station;

and receiving a confirmation message of subscribing the first base station sent by the mobile station, and recording the service relationship between the first base station and the mobile station.

In one possible implementation, the first base station is one of one or more base stations located at a distance from the mobile station.

In one possible implementation, the method further includes:

and transmitting the position information of the base station stored locally to the mobile station so that the mobile station determines a first base station providing service to the mobile station according to the real-time position of the mobile station and the position information of the base station.

In one possible implementation, the method further includes:

receiving a confirmation request sent by the mobile station to confirm whether the first base station is available;

the results available to the first base station are fed back to the mobile station to cause the mobile station to hand off service to the first base station.

In one possible implementation, the sending the identification information of the first base station to the mobile station includes:

judging whether the first base station is a base station which provides service for the mobile station currently;

if not, the identification information of the first base station is sent to the mobile station.

In one possible implementation, a first base station providing service for the mobile station is determined according to the real-time position of the mobile station and the position information of the base station stored locally in the cloud,

determining one or more base stations within a certain distance range from the mobile station according to the real-time position of the mobile station and the position information of the base stations locally stored in the cloud, wherein 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 for providing service to the mobile station.

In one possible implementation manner, determining a first base station providing a service to a mobile station according to a real-time location of the mobile station and location information of a base station locally stored in a cloud, further includes:

determining whether the one or more base stations include a base station currently providing service to a mobile station;

if not, a base station providing service to the mobile station is re-determined from the one or more base stations.

In one possible implementation, the method further includes:

and 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 in the service range of the one or more base stations or the base station determined to be closest to the mobile station, switching to a network RTK mode, and calculating a virtual base station for the mobile station.

In a possible implementation manner, if an abnormal base station is detected by the cloud, a second base station providing service to a mobile station served by the abnormal base station is determined, where the second base station is a base station closest to the abnormal base station, or the second base station is a base station closest to the mobile station served by the abnormal base station.

And sending identification information of a second base station to the mobile station served by the abnormal base station so as to enable the mobile station served by the abnormal base station to subscribe to the second base station.

According to an aspect of the present disclosure, there is provided a base station handover method, the method being applied to a server, the method including:

when a service request sent by a mobile station is received, analyzing the service request to acquire first position information of the mobile station;

determining one or more first base stations capable of serving a mobile station according to first position information of the mobile station and position information of a locally stored base station;

transmitting identification information of one of the one or more first base stations to the mobile station to cause the mobile station to handover the serving base station to the one first base station;

and updating the subscription relationship between the first base station and the mobile station.

In one possible implementation, the method further includes:

when an acquisition request sent by a mobile station is received, analyzing the acquisition request to obtain second position information of the mobile station;

determining a second base station within a preset distance range from the position represented by the second position information according to the second position information of the mobile station and the position information of the base station stored locally;

and sending the equipment information of the second base station to the mobile station, wherein the equipment information comprises identification information and position information, so that the mobile station determines a third base station to be switched and the identification information of the third base station according to the position information of the second base station and the second position information.

In one possible implementation, the method further includes:

receiving a subscription request sent by the mobile station, wherein the subscription request carries the identification information of the third base station and the identification information of the mobile station;

and updating 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.

In one possible implementation, the method further includes:

within a preset time period after data sent by a base station or reported state information is received for the last time, if the data sent by the base station or the reported state information is not received, the base station is determined to be an abnormal base station;

acquiring a subscription list of an abnormal base station;

and switching the service 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.

In one possible implementation, the method further includes:

receiving a data message sent by the first base station; the data message carries identification information of the mobile station;

and analyzing the data message to acquire data, determining a corresponding mobile station according to the identification information of the mobile station, and forwarding the data to the mobile station.

In one possible implementation, the method further includes:

and when a subscription information request sent by a base station is received, acquiring a subscription list of the base station and returning the subscription list to the base station.

In one possible implementation, the service request is sent by the mobile station upon completion of registration or periodically after completion of registration.

According to another aspect of the present disclosure, there is provided a positioning system, the system comprising: a cloud server, a mobile station and a base station,

the cloud server forwards data sent by the base 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 the data sent by the base station or the reported state information is not received within a preset time period after the data sent by the base station or the reported state information is received for the last time;

the cloud server acquires a subscription list of the abnormal base station;

and the cloud server switches the service 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.

According to another aspect of the present disclosure, there is provided a base station switching apparatus including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the above method.

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

In the case that a plurality of base stations serve the mobile station, the base station switching method according to the embodiment of the present disclosure may enable the mobile station to acquire the base station closest to the current position from the cloud and switch to the base station, so as to improve the positioning accuracy in the working process of the mobile station. In addition, when the base station is abnormal, the mobile station serving the abnormal base station can be quickly switched to the normal base station, and uninterrupted and high-precision positioning is realized.

Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

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

Fig. 1 shows a schematic diagram of an application scenario according to an embodiment of the present disclosure.

Fig. 2 shows a flow chart of a base station handover method according to an embodiment of the present disclosure.

Fig. 3 shows a flow chart 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 illustrating an apparatus for base station handover according to an example embodiment.

Fig. 6 is a block diagram illustrating an apparatus for base station handover according to an example embodiment.

Detailed Description

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

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

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

Fig. 1 shows a schematic diagram of an application scenario according to an embodiment of the present disclosure. Fig. 2 shows a flow chart of a base station handover method according to an embodiment of the present disclosure. The base station handover method of the present disclosure is explained with reference to fig. 1 and 2.

As shown in fig. 1, an application scenario of the base station handover method of the present disclosure may include a network composed of a plurality of base stations, a cloud, and a mobile station. Wherein the base station may be a base station providing mobile communication services, in one example, the base station may be an RTK base station; the cloud end can be a cloud server; the mobile station may be a variety of end-user devices, such as the lawn mowing robot described above.

As shown in fig. 2, after the base station is powered on, the device information of the base station may be registered in the cloud, and the device information of the base station may include identification information and location information of the base station. The base station may send the identification information and location information of the base station to the cloud. And after receiving the identification information and the position information of the base station sent by the base station, the cloud locally stores the identification information and the position information.

Specifically, after the base station is powered on, the base station may obtain position information of a current position of the base station from a satellite (e.g., a GPS). And sending a registration request to the cloud, wherein the registration request carries the identification information of the base station and the position information of the base station. After receiving the registration request, the cloud may store the identification information and the location information of the base station in a database of the cloud. In a possible implementation manner, the information may be stored in the form of a table (base station equipment information table), and identification information, location information, and the like of one base station are recorded in one table entry. In a possible implementation manner, information of the mobile station served by the base station, i.e. a subscription list, such as identification information and location information of the mobile station, etc., may also be recorded in the above entry. When the base station has just completed registration, the mobile station is not yet served, and the location of the mobile station in the entry corresponding to the entry where the base station is served may be set to null.

After the base station completes registration, it may be determined whether a device subscribes to data of the base station, for example, the base station may send an acquisition request for acquiring information of a serving mobile station to the cloud, that is, send the acquisition request to the cloud to acquire a subscription list, where the acquisition request may carry identification information of the base station, and after receiving the acquisition request, the cloud may find information (i.e., the subscription list) of the mobile station served by the base station according to the identification information of the base station, and return the subscription list to the base station, and based on the subscription list returned by the cloud, the base station may determine whether a device subscribes to data of the base station. Taking the 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, so that the information (subscription list) of the mobile station served by the base station returned to the base station is empty, and based on the information returned by the cloud, the base station can determine that no device subscribes to the data of the base station.

If no equipment subscribes the data of the base station, waiting for the equipment to subscribe the data; if there is a device subscribed to the data of the base station, the device subscribed to the data of the base station sends the data, for example, the device may send the data at a certain frequency (first frequency). In a possible implementation manner, the base station may first send data to be sent to the cloud, and may send the data to the cloud in the form of a data packet, where the data packet may carry identification information of the base station and identification information of the mobile station, and after receiving the data packet sent by the base station, the cloud may search, according to the identification information of the base station, whether a mobile station matching the identification information of the mobile station carried in the data packet exists in the mobile stations served by the base station, and if the mobile station exists, forward the data packet to the mobile station matching the identification information of the mobile station carried in the data packet, and if the mobile station does not exist, the cloud may discard the packet.

In a possible implementation manner, the base station may also directly send data to the cloud without sending an acquisition request to the cloud to acquire the subscription list, and the cloud searches the subscription list according to the identification information of the base station to determine whether to forward the data.

In a possible implementation manner, the base station may also report the current working state of the base station to the cloud, for example, the base station may also report the current working state to the cloud at a certain frequency (a second frequency). The first frequency and the second frequency may be the same or different, the disclosure is not limited, and the starting times of the first frequency and the second frequency may be the same or different. In a possible implementation manner, the base station may report the current working state to the cloud via the internet.

If the base station is abnormal, for example, power failure, damage, upgrade, etc., when the base station is abnormal, the base station cannot send a data message to the mobile station served by the base station, and cannot report the current working state to the cloud, or the base station continuously sends an error data message to the mobile station served by the base station, therefore, if the cloud does not receive the data message sent by the base station or the reported working state within a preset time period after the cloud receives the data message sent by the base station or the reported working state last time, or the cloud continuously receives the error data message, it can be determined that the base station is abnormal (the base station is referred to as an abnormal base station), the cloud can search for the mobile station served by the abnormal base station (the mobile station is referred to as a network-disconnected mobile station), for example, the above-mentioned table entry can be searched, and the base station capable of normally providing service is reset, for example, a base station capable of normally providing service may be newly provided for the disconnected mobile station according to the location information of the abnormal base station and the current location information of the disconnected mobile station. In one example, the serving base station of the broken network mobile station may be handed over to the base station closest to the abnormal base station. Or, in another example, the base station closest to the network-cut mobile station may be determined again according to the latest position information of the network-cut mobile station and the position information of the base station in the waiting state stored locally. Through the embodiment, under the condition that the base station is abnormal, the mobile station served by the abnormal base station can be quickly switched to other proper base stations, and uninterrupted and high-precision positioning can still be provided for the mobile station.

The preset time period may be a preset time period with a certain length, for example, the length of the preset time period may be related to the first frequency or the second frequency. Specifically, if the base station only sends the data packet to the cloud end at the first frequency, the base station may set the length of the predetermined time period according to the first frequency, for example, the length of the predetermined time period may be greater than the length of the cycle corresponding to the first frequency. If the base station further reports the current working state to the cloud at the second frequency, the base station may 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 may be set according to the second frequency, and the length of the predetermined time period may be set to be greater than the length of the period corresponding to the second frequency.

Fig. 3 shows a flow chart 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 is explained with reference to fig. 3 and 4.

As shown in fig. 3, after the base station is powered on, the base station may obtain position information of the current position of the base station from a satellite (e.g., GPS). After obtaining the location information of the base station, the base station may send a registration request to the cloud, where the registration request may carry identification information and location information of the base station. After receiving the registration request, the cloud may store the identification information and the location information of the base station in a database of the cloud. In a possible implementation manner, the information may be stored in the form of a table (base station equipment information table), and identification information, location information, and the like of one base station are recorded in one table entry. In a possible implementation manner, device information, i.e. a subscription list, of the mobile station served by the base station, for example, identification information and location information of the mobile station, etc., may also be recorded in the above entry.

In one possible implementation, the correspondence between the base station and the mobile station may be recorded without storing the device information of the serving mobile station in the device information entry of the base station and the device information of the base station serving the mobile station in the device information entry of the mobile station, as described above. A special base station-mobile station correspondence table may be established to record the service relationship between the base station and the mobile station.

The application also provides a base station switching method, which is applied to a mobile station, and the base station switching method can comprise the following steps:

after acquiring a real-time position of a mobile station, the mobile station sends an acquisition request to a cloud, wherein the acquisition request is used for acquiring a first base station providing service for the mobile station, and the acquisition request carries the real-time position;

receiving identification information of the first base station returned by the cloud in response to the acquisition request; the first base station is a base station closest to the mobile station and the mobile station is in the service range of the first base station, or the first base station is one of one or more base stations in a certain distance range from the mobile station;

In a possible implementation manner, the mobile station acquiring the real-time position of itself may refer to acquiring the real-time position of itself after the mobile station is powered on, or may refer to a real-time position of the mobile station where the mobile station performs real-time positioning update according to data issued by the first base station. That is, the acquisition request carries the real-time location of the mobile station, otherwise referred to as the current location, which is not limited in this application.

In a possible implementation manner, if the mobile station obtains the real-time location of the mobile station as location information of the mobile station, where the mobile station performs real-time location update according to data published by the first base station, feeding back a confirmation message of subscribing to the first base station to a cloud, and subscribing to the first base station may include: and feeding back a confirmation message for subscribing the first base station to the cloud end, and switching the service to the first base station.

In a possible implementation manner, the base station handover method of the present application may further include the following steps:

and determining a first base station for providing service for the mobile station according to the real-time position of the mobile station and the position information of the base station, wherein the first base station can be the base station which is closest to the mobile station and the mobile station is in the service range of the first base station, or the first base station can be one of one or more base stations in a certain distance range from the mobile station.

In the foregoing implementation manner, feeding back, to the cloud, a confirmation message of subscribing to the first base station according to the identification information, and subscribing to the first base station may include: sending a confirmation request for confirming whether the first base station is available to the cloud end according to the identification information of the first base station; and if the result fed back to the mobile station by the cloud terminal indicates that the first base station is available, switching the service to the first base station.

In the above implementation manner, the mobile station may periodically send a request for obtaining base station information to the cloud to obtain location information of all registered base stations. In a possible implementation manner, after receiving the device information of the base station, the mobile station may also determine, according to the real-time location information of the mobile station and the location information in the device information of the base station, whether the base station closest to the mobile station is the base station currently providing service to the mobile station, and if not, subscribe to data issued by the currently determined closest base station. In another possible implementation manner, the mobile station may 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, may determine whether the re-determined first base station is a base station currently providing service to the mobile station, if so, may not process the first base station, and if not, may select a second base station closest to the mobile station according to the real-time location of the mobile station, the re-determined location information of the first base station, and the location information of the base station currently providing service to the mobile station, and subscribe to the second base station.

if new data is not received within a preset time period after the data issued by the first base station is received for the last time, sending an acquisition request to the cloud end or acquiring the position information of all registered base stations from the cloud end so as to re-determine the first base station providing service for the mobile station;

if new data are received within a preset time period after the data issued by the first base station are received for the last time, real-time positioning is carried out according to the new data to obtain a real-time position; and sending an acquisition request to the cloud or acquiring the position information of all the registered base stations from the cloud so as to re-determine the base station closest to the mobile station according to the real-time position and the position information of the base stations.

The application also provides a base station switching method, which is applied to a cloud terminal, and the base station switching method can comprise the following steps:

determining a first base station providing service for the mobile station according to the real-time position of the mobile station and position information of base stations locally stored in a cloud, wherein the first base station can be a base station closest to the mobile station and within the service range of the first base station, or the first base station is one of one or more base stations within a certain distance range from the mobile station;

In a possible implementation manner, for a case that the first base station may be a base station that is closest to the mobile station and within a service range of the first base station, after the cloud determines the first base station, the cloud may further determine whether the first base station is a base station that currently provides a service to the mobile station; if not, the identification information of the first base station is sent to the mobile station so that the mobile station switches the service to the first base station, and if so, the processing is not required.

In one possible implementation manner, determining a first base station providing service to a mobile station according to a real-time location of the mobile station and location information of base stations locally stored in a cloud terminal may include:

determining one or more base stations within a certain distance range from the mobile station according to the real-time position of the mobile station and the position information of the base stations locally stored in the cloud, wherein 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 first base station to provide service to the mobile station. Or may include: determining one or more base stations within a certain distance range from the mobile station according to the real-time position of the mobile station and the position information of the base stations locally stored in the cloud, wherein the mobile station is within the service range of the one or more base stations; determining whether the one or more base stations include a base station currently providing service to a mobile station; if not, a base station providing service to the mobile station is redetermined from the one or more base stations, and if so, no processing is performed.

In one possible implementation manner, if the cloud end determines one or more base stations within a certain range from the mobile station, but the mobile station is not in the service range of the one or more base stations, the network RTK mode is switched to, and the virtual base station is calculated for the mobile station.

The base station switching method of the present embodiment may further include the steps of:

sending the position information of the base station stored locally to the mobile station so that the mobile station determines a first base station according to the real-time position of the mobile station and the position information of the base station;

the results available to the first base station are fed back to the mobile station so that the mobile station will subscribe to the first base station.

In a possible implementation manner, the base station switching method of this embodiment may further include the following steps: if the cloud detects an abnormal base station, determining a second base station providing service for a mobile station served by the abnormal base station, wherein 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 following are some more specific application examples of the base station handover method of the present application.

The mobile station (e.g., lawnmower) is powered on and acquires its own position information (real-time position) after the mobile station is powered on. The specific way for the mobile station to obtain the self-location information can be implemented according to the related algorithm, which is not limited by the present disclosure.

After acquiring the position information of the mobile station, the mobile station may send an acquisition request for acquiring the base station information closest to the current position to the cloud, where the acquisition request carries the position information of the mobile station. After receiving the acquisition request, the cloud determines a first base station closest to the mobile station according to the position information of the mobile station and the position information of the base station locally stored by the cloud, and the mobile station determines the first base station as a base station providing service for the mobile station within the service range of the first base station. Or, the cloud may determine, according to the location information of the mobile station and the location information of the base station locally stored in the cloud, one or more base stations within a certain distance range from the mobile station, and the mobile station is within a service range of the one or more base stations, and then the cloud may determine, from the one or more base stations, one base station as a base station providing service to the mobile station, specifically, the cloud may determine, from the one or more base stations, that one base station currently in a normal operating state is as a base station providing service to the mobile station, and may also select one base station at will, or select one base station in other manners, which is not limited in this disclosure. The cloud may then send to the mobile station identification information for the base station providing service to the mobile station. In addition, before sending the identification information of the base station providing the service to the mobile station, the cloud terminal can further confirm whether the base station is in a normal working state currently, and if the base station is in the normal working state, the cloud terminal sends the identification information of the base station providing the service to the mobile station.

After receiving the identification information of the base station providing services to the mobile station, the mobile station may subscribe to data published by the base station and feed back a confirmation message to the cloud.

After receiving the confirmation message fed back by the mobile station, the cloud may record the service relationship between the first base station and the mobile station in the base station-mobile station correspondence table, or may update entries corresponding to the base station device information table and the mobile station device information table to implement recording of the service relationship, for example, record the device information of the mobile station in the entry of the first base station, record the device information of the first base station in the entry of the mobile station, and so on.

Therefore, when the base station sends a data message or when the base station or the mobile station has a problem, the other party can be searched through the service relationship, and the service association relationship is reset for the other party. For example, if the base station is abnormal, the cloud may determine a mobile station served by the base station, and re-determine a base station serving the mobile station for the mobile station. Or, as described above, the cloud receives the data packet sent by the base station, and may search, according to the identification information of the base station, whether a mobile station matching the identification information of the mobile station carried in the data packet exists in the mobile stations served by the base station, and if so, forward the data packet to the mobile station matching the identification information of the mobile station carried in the data packet.

The service range of a base station may refer to a distance range geographically that the base station may provide service to mobile stations located within the service 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 may be a circular geographic range centered around the base station, and the service radius may be related to the power of the base station, etc., which is not limited in this disclosure.

In a possible implementation manner, the base station may further register a service range of the base station during registration, and the cloud may record the service range of the base station in the base station device information table. Therefore, when determining a serving base station for a mobile station, it can be determined whether the mobile station is located within the service range of the base station based on the recorded service range of the base station and the location information of the mobile station.

During the working process of the mobile station, the mobile station can perform real-time positioning according to the data issued by the subscribed base station and update the position information of the mobile station. The specific positioning process can be implemented according to a related algorithm, which is not limited by the present disclosure.

The mobile station receives data issued by the base station at a certain frequency, judges whether the data is received in preset time, and if new data is not received in a preset time period after the data is received for the last time, the mobile station can send a base station information acquisition request to the cloud, wherein the base station information acquisition request can carry the position information of the mobile station positioned at the latest. After receiving the base station information acquisition request, the cloud end can determine a base station closest to the mobile station according to the position information of the mobile station which is positioned latest and the position information of the base station stored by the cloud end, and send the identification information of the closest base station to the mobile station, and the mobile station can subscribe data issued by the base station after receiving the identification information of the closest base station; or, the cloud may determine one or more base stations within a certain distance range from the mobile station according to the latest located location information and location information of the base station locally stored by the cloud, and the mobile station is within a service range of the one or more base stations, and then the cloud may determine one base station from the one or more base stations as the base station providing service to the mobile station, for example, one base station may be arbitrarily selected, and then the cloud may send identification information of the base station providing service to the mobile station, and the mobile station may subscribe to data published by the base station after receiving the identification information of the base station providing service to the mobile station.

If the data is received within the predetermined time period, the real-time location information of the mobile station may be sent to the cloud, it should be noted that the mobile station may send the real-time location information to the cloud instead of determining that the data is received within the predetermined time period every time, or may send the real-time location information to the cloud at a certain frequency, for example, a period for sending the real-time location information may be set, and the real-time location information may be periodically sent to the cloud.

The cloud can re-determine a base station closest to the mobile station or one or more base stations within a certain distance range from the mobile station according to the real-time position information and the position information of the base station locally stored by the cloud. Judging whether a base station closest to the mobile station is the base station providing service for the mobile station, if so, not processing, and if not, sending the identification information of the closest base station; alternatively, it is determined whether one or more base stations located within a certain distance range from the mobile station include a base station currently providing service to the mobile station, and if so, the processing may not be performed, and if not, a base station serving the mobile station may be newly determined from the one or more base stations located within a certain distance range from the mobile station, and the identification information of the newly determined base station serving the mobile station may be transmitted to the mobile station.

The mobile station may subscribe to data published by the base station upon receiving the re-determined identification information of the nearest base station or the re-determined identification information of the base station serving the mobile station.

Alternatively, the mobile station may send a request for obtaining the base station information to the cloud at a certain frequency (periodically), and the cloud may send the locally stored device information of the base station to the mobile station after receiving the request. The period may also be preset, and specifically, the content of sending the real-time location information to the cloud may be referred to. After receiving the device information of the base station, the mobile station may determine, according to the real-time location information of the mobile station and the location information of the base station, whether the base station closest to the mobile station is a base station currently providing a service to the mobile station, if so, the mobile station may not process the device information, and if not, the mobile station may subscribe to data issued by the currently determined closest base station.

In this embodiment, if the cloud determines that the base station is closest to the mobile station but the mobile station is not in the service range of the base station closest to the mobile station, or if the cloud determines that one or more base stations are within a certain range from the mobile station but the mobile station is not in the service range of the one or more base stations, as shown in fig. 3, the method may switch to the network RTK mode to calculate the virtual base station for the mobile station.

As shown in fig. 4, the mobile station C is not located within the service range of any one base station, in this case, the cloud may calculate a virtual base station for the mobile station C, and in a possible implementation, the virtual base station of the mobile station C may be determined by using a CORS (continuous Operating Reference Stations). When the positioning service cannot be provided for the mobile station through the base station, the virtual base station is obtained through calculation of the base station near the mobile station, and the virtual base station is adopted to provide the positioning service for the mobile station.

In one possible implementation manner, after the mobile station acquires the position information of the mobile station, the position information of all registered base stations is acquired from the cloud. The mobile station determines a first base station closest to the mobile station according to the position information of the mobile station and the position information of the base station, and determines the first base station as a base station providing service for the mobile station when the mobile station is within the service range of the first base station. Alternatively, the mobile station may determine one or more base stations within a certain distance range from the mobile station according to the position information of the mobile station and the position information of the base stations, and is within the service range of the one or more base stations, and then the mobile station may determine one base station from the one or more base stations as the base station providing service to the mobile station, for example, one base station may be arbitrarily selected. And then, the mobile station confirms whether the base station is available to the cloud, the base station availability means that the base station is in a working state at present and has no abnormality, and if the result fed back to the mobile station by the cloud shows that the base station is available, the mobile station subscribes data published by the first base station, namely, the mobile station switches the service base station to the first base station.

During the working process of the mobile station, the mobile station can perform real-time positioning according to the data issued by the subscribed base station and update the position information of the mobile station. The specific positioning process can be implemented according to a related algorithm, which is not limited by the present disclosure. The mobile station receives data issued by the base station at a certain frequency, judges whether the data is received in preset time, and if the mobile station does not receive new data in a preset time period after receiving the data for the last time, the mobile station determines the current base station closest to the mobile station according to the position information of the mobile station and the position information of all registered base stations acquired from the cloud, so that the mobile station can subscribe the data issued by the base station; or, the mobile station may determine, according to the latest located own location information and location information of all registered base stations acquired from the cloud, one or more base stations within a certain distance range from the mobile station itself at present, and the mobile station is within a service range of the one or more base stations, and then, the mobile station may determine one base station from the one or more base stations as a base station providing service to itself, for example, one base station may be arbitrarily selected, and then, the mobile station may subscribe to data published by the base station.

If the data is received within the preset time period, the mobile station can re-determine a base station closest to the mobile station or one or more base stations within a certain distance range from the mobile station according to the real-time position information of the mobile station and the position information of all the base stations acquired from the cloud. Judging whether a base station closest to the mobile station is the base station which provides service for the mobile station currently, if so, not processing the base station, if not, subscribing the data issued by the closest base station which is determined again by the mobile station, namely switching the service base station from the first base station to the closest base station which is determined again by the mobile station; or, determining whether one or more base stations within a certain distance range from the mobile station include a base station currently providing service to the mobile station, if so, not processing the base station, and if not, re-determining a base station serving the mobile station from the one or more base stations within a certain distance range from the mobile station, and subscribing the data issued by the re-determined base station serving the mobile station by the mobile station, that is, switching the serving base station from the first base station to the re-determined base station serving the mobile station by the mobile station. Further, before the mobile station switches the serving base station from the first base station to the newly determined nearest base station or the base station serving the mobile station, the mobile station may determine, to the cloud, whether the newly determined nearest base station or the base station serving the mobile station is available, where the availability of the base station means that the base station is currently in an operating state and has no abnormality, that is, a normal operating state, and if a result fed back by the cloud to the mobile station indicates that the base station is available, the mobile station performs the above switching step.

The present disclosure also provides a positioning system, the system comprising: the mobile station comprises a cloud server, a mobile station and a base station, wherein the cloud server forwards data sent by the base station to the mobile station, and the mobile station carries out positioning according to the data; the cloud server determines that the base station is an abnormal base station if the data sent by the base station or the reported state information is not received within a preset time period after the data sent by the base station or the reported state information is received for the last time; the cloud server acquires a subscription list of the abnormal base station; and the cloud server switches the service 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. Other specific functions of the cloud server, the mobile station and the base station may refer to the above embodiments of the method, and are not described in detail.

The present disclosure also provides a base station switching apparatus, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to carry out the method described above when executing the instructions.

The present disclosure also provides a non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method described above.

Fig. 5 is a block diagram illustrating an apparatus 800 for base station handover in accordance with an example embodiment. For example, the apparatus 800 may be a lawn mowing robot, a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.

Referring to fig. 5, the apparatus 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.

The processing component 802 generally controls overall operation of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the apparatus 800. Examples of such data include instructions for any application or method operating on device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

Power components 806 provide power to the various components of device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the apparatus 800.

The multimedia component 808 includes a screen that provides an output interface between the device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 800 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the device 800. For example, the sensor assembly 814 may detect the open/closed status of the device 800, the relative positioning of components, such as a display and keypad of the device 800, the sensor assembly 814 may also detect a change in the position of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, the orientation or acceleration/deceleration of the device 800, and a change in the temperature of the device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 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 assembly 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 communications between the apparatus 800 and other devices in a wired or wireless manner. The device 800 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 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 communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the apparatus 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer-readable storage medium, such as the memory 804, is also provided that includes computer program instructions executable by the processor 820 of the device 800 to perform the above-described methods.

Fig. 6 is a block diagram illustrating an apparatus 1900 for base station handover according to an example embodiment. For example, the apparatus 1900 may be provided as a server. Referring to FIG. 6, the device 1900 includes a processing component 1922 further including one or more processors and memory resources, represented by memory 1932, for storing instructions, e.g., applications, executable by the processing component 1922. The application programs stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the above-described method.

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 may operate based on an operating system stored in memory 1932, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, or the like.

In an exemplary embodiment, a non-transitory computer readable storage medium, such as the memory 1932, is also provided that includes computer program instructions executable by the processing component 1922 of the apparatus 1900 to perform the above-described methods.

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

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

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

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

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

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

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

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

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

Claims

1. A base station handover method, applied to a mobile station, the method comprising:

2. The method of claim 1,

the first base station is one of one or more base stations located within a distance range from the mobile station.

3. The method according to claim 1 or 2, characterized in that the method further comprises:

4. The method of claim 3, wherein feeding back a confirmation message of subscribing to the first base station to the cloud according to the identification information, and subscribing to the first base station comprises:

5. The method of claim 3, further comprising:

6. The method according to any one of claims 1-3, further comprising:

7. The method according to any one of claims 1-3, further comprising:

8. A base station switching method is applied to a cloud end, and comprises the following steps:

9. The method of claim 8, further comprising:

10. The method of claim 9, further comprising:

11. The method of claim 8, wherein transmitting the identification information of the first base station to the mobile station comprises:

12. The method of claim 8, wherein determining the first base station serving the mobile station based on the real-time location of the mobile station and location information of base stations stored locally in a cloud comprises:

the cloud determines a base station from the one or more base stations as a first base station to provide service to the mobile station.

13. The method of claim 8, further comprising:

and 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 in the service range of the one or more base stations or the base station closest to the mobile station, switching to a network RTK mode, and calculating a virtual base station for the mobile station.

14. The method according to any one of claims 8 to 13,

if the cloud detects an abnormal base station, determining a second base station providing service for a mobile station served by the abnormal base station, wherein 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;

15. A base station switching apparatus, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the method of any one of claims 1-7 when executing the instructions or the processor is configured to perform the method of any one of claims 8-14 when executing the instructions.

16. A non-transitory computer readable storage medium having stored thereon computer program instructions, wherein the computer program instructions, when executed by a processor, implement the method of any of claims 1-7 or wherein the computer program instructions, when executed by a processor, implement the method of any of claims 8-14.