WO2020244668A1 - Positioning processing method and apparatus, electronic device, and storage medium - Google Patents

Abstract

The present application provides a positioning processing method and apparatus, an electronic device, and a storage medium. The method comprises: receiving reference station positioning information and satellite positioning information according to a preset rules during the movement of a service terminal; and using a preset difference algorithm to calculate positioning information of the service terminal at a first preset interval according to the satellite positioning information and the reference station positioning information. The present application solves the problem of excessive power consumption caused by high-precision positioning in the prior art, and achieves the effect of reducing power consumption while achieving precise positioning.

Description

Positioning processing method, device, electronic equipment and storage medium

Cross references to related applications

This application claims the priority of the Chinese patent application filed with the Chinese Patent Office on June 6, 2019 with the application number 2019104925061 and titled "a positioning processing method, device, electronic equipment and storage medium", the entire content of which is incorporated by reference Incorporated in this application.

Technical field

This application relates to the field of positioning technology, and specifically to a positioning processing method, device, electronic equipment, and storage medium.

Background technique

With the development of science and technology, shared tools (such as shared bicycles, shared cars, shared power banks, etc.) have become more and more common in people's lives, bringing great convenience to people's travel. In order to facilitate the management of shared tools, the positioning of shared tools is particularly important.

In some scenarios, taking shared bicycles as an example, a high-precision locator is generally installed on the lock of the shared bicycle, and real-time high precision of the shared bicycle is achieved through RTK (Real-time kinematic) carrier phase difference technology. Positioning.

However, since the requirements for high-precision positioning in the shared bicycle riding process are not high, this method of enabling high-precision positioning in real time will cause a problem of high power consumption.

Summary of the invention

In the first aspect of this application, this application provides a positioning processing method, including:

During the movement of the service terminal, the base station positioning information and satellite positioning information are received according to preset rules;

A preset difference algorithm is used, and the positioning information of the service terminal is calculated and acquired according to the first preset interval according to the satellite positioning information and the reference station positioning information.

In some possible implementation manners, the receiving reference station positioning information and satellite positioning information according to preset rules during the movement of the serving terminal includes:

During the movement of the service terminal, the reference station positioning information is received at a second preset interval, and the satellite positioning information is received in real time.

In some possible implementations, during the movement of the service terminal, the base station positioning information and satellite positioning information are received according to preset rules, including:

Acquire the lock state of the service terminal, where the lock state includes any one of the following: an open state, a closed state, and a closing state;

After determining that the service terminal is in the moving process according to the locked state, the base station positioning information and the satellite positioning information are received according to a preset rule.

In some possible implementation manners, after determining that the service terminal is in a moving process according to the locked state, receiving reference station positioning information and satellite positioning information according to a preset rule includes:

If the locked state is an open state, determining that the service terminal is in the process of moving;

Receiving the reference station positioning information and the satellite positioning information according to the preset rule.

In some possible implementation manners, after obtaining the lock status of the service terminal, the method further includes:

If the locked state is the closing state, stop receiving the reference station positioning information.

In some possible implementation manners, the receiving reference station positioning information at a second preset interval and receiving the satellite positioning information in real time during the movement of the serving terminal includes:

During the movement of the service terminal, the carrier phase sent by the reference station is received at the second preset interval, and the carrier phase sent by the satellite positioning system is received in real time.

In the second aspect of the present application, the present application also provides a positioning processing device, which includes: a receiving module and a calculation module, wherein:

The receiving module is configured to receive reference station positioning information and satellite positioning information according to preset rules during the movement of the service terminal;

The calculation module is configured to use a preset difference algorithm to calculate and acquire the positioning information of the service terminal according to the first preset interval according to the satellite positioning information and the reference station positioning information.

In some possible implementation manners, it is specifically configured to receive the reference station positioning information at a second preset interval during the movement of the service terminal, and to receive the satellite positioning information in real time.

In some possible implementation manners, the receiving module is specifically configured to obtain the lock state of the service terminal, and the lock state includes any one of the following: an open state, a closed state, and a closing state;

After it is determined according to the locked state that the service terminal is in the moving process, the reference station positioning information and the satellite positioning information are received according to the preset rule.

In some possible implementation manners, the receiving module is specifically configured to determine that the service terminal is in a moving process if the locked state is an open state;

Receiving the reference station positioning information and the satellite positioning information according to a preset rule.

In some possible implementation manners, the device further includes a stop module configured to stop receiving the reference station positioning information if the locked state is the closing state.

In some possible implementations, the receiving module is specifically configured to receive the carrier phase sent by the reference station according to the second preset interval during the movement of the service terminal, and receive the signal sent by the satellite positioning system in real time. Carrier phase.

In a third aspect of the present application, an electronic device, a processor, a storage medium, and a bus are provided. The storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor In communication with the storage medium through a bus, the processor executes the machine-readable instructions to execute the steps of any of the methods described in the first aspect.

In the fourth aspect of the present application, the present application also provides a storage medium on which a computer program is stored, and the computer program executes the steps of any one of the methods described in the first aspect when the computer program is run by a processor.

Based on any of the above aspects, in the positioning processing method, device, electronic equipment and storage medium provided in this application, the reference station positioning information and satellite positioning information are received according to preset rules during the movement of the service terminal; the preset difference algorithm is adopted According to the satellite positioning information and the reference station positioning information, the positioning information of the service terminal is calculated and obtained at a first preset interval, and the positioning information can be calculated once at a certain interval to reduce the power consumption of positioning to achieve The effect of low power consumption and precise positioning.

In addition, in some embodiments, when the locked state is the off state, the reference station positioning information is stopped, thereby further achieving the effect of reducing power consumption.

Description of the drawings

In order to more clearly describe the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore do not It should be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative work.

FIG. 1 shows a schematic structural diagram of a positioning processing system provided by an embodiment of the present application;

FIG. 2 shows a schematic flowchart of a positioning processing method provided by an embodiment of the present application;

FIG. 3 shows a schematic flowchart of another positioning processing method provided by an embodiment of the present application;

FIG. 4 shows a schematic flowchart of another positioning processing method provided by an embodiment of the present application;

FIG. 5 shows a schematic structural diagram of a positioning processing device provided by an embodiment of the present application;

FIG. 6 shows a schematic structural diagram of another positioning processing device provided by an embodiment of the present application;

Fig. 7 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be described clearly and completely in conjunction with the drawings in the embodiments of this application. It should be understood that this application is attached The drawings are only for the purpose of illustration and description, and are not used to limit the protection scope of this application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowchart used in this application shows operations implemented according to some embodiments of this application. It should be understood that the operations of the flowchart may be implemented out of order, and steps without logical context may be reversed in order or implemented at the same time. In addition, under the guidance of the content of this application, those skilled in the art can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work shall fall within the protection scope of the present application.

In order to enable those skilled in the art to use the content of this application, combined with a specific application scenario: bicycle sharing, the following implementation manners are given. For those skilled in the art, the general principles defined here can be applied to other embodiments and application scenarios without departing from the spirit and scope of the present application. Although this application mainly focuses on sharing bicycles, it should be understood that this is only an exemplary embodiment, and this application can be applied to various scenarios that require sharing tools.

It should be noted that the term "including" will be used in the embodiments of this application to indicate the existence of the features declared later, but it does not exclude the addition of other features.

In the prior art, a high-precision locator is usually installed on the shared tool, and real-time high-precision positioning of the shared tool is realized through RTK technology. The high-precision locator is always turned on in real time, but real-time high-precision positioning will cause excessive power consumption. . Since the service terminal is moving at a slower speed, the positioning will not change much within a certain period of time, and the attention to positioning during the movement is not high, one aspect of this application relates to a positioning processing method. The method can obtain the positioning information of the service terminal at a preset time interval, so as to achieve precise positioning of shared tools while reducing the problem of high power consumption due to real-time precise positioning. The preset time interval can be adjusted according to user needs. The design, such as every half minute, one minute, etc., is not restricted here.

The positioning processing method provided by this application may not need to locate the shared tool in real time, but obtain the positioning information of the shared tool by calculating according to the first preset interval. Therefore, the solution proposed by this application can ensure the high level of the shared tool. While the positioning is accurate, the problem of high power consumption caused by real-time high-precision positioning in the prior art is solved, and the effect of low-power high-precision positioning is achieved.

FIG. 1 is a schematic structural diagram of a positioning processing system 100 provided by an embodiment of the present application. For example, the positioning processing system 100 may be used for shared services such as shared bicycles, shared cars, shared power banks, shared strollers, and the like. The positioning processing system 100 may include a server 110, a network 120, a service terminal 130, a reference station 140, a satellite positioning system 150, and the like.

In some embodiments, the server 110 may include a processor. The processor may process information and/or data related to the service request to perform one or more functions described in this application. For example, the processor may determine the user's intention based on a service request obtained from the service terminal 130. In some embodiments, the processor may include one or more processing cores (e.g., single-core processor (S) or multi-core processor (S)). For example only, the processor may include a central processing unit (CPU), an application specific integrated circuit (ASIC), a special instruction set processor (Application Specific Instruction-set Processor, ASIP), and a graphics processing unit (Graphics Processing Unit, GPU), Physical Processing Unit (Physics Processing Unit, PPU), Digital Signal Processor (Digital Signal Processor, DSP), Field Programmable Gate Array (Field Programmable Gate Array, FPGA), Programmable Logic Device ( Programmable Logic Device (PLD), controller, microcontroller unit, Reduced Instruction Set Computing (RISC), or microprocessor, etc., or any combination thereof.

The reference station 140 may be deployed at various locations by the operator to provide positioning information to various terminals. The satellite positioning system 150 may be a BeiDou navigation system (BeiDou Navigation Satellite System), a global positioning system (Global Positioning System, GPS for short), etc.

In some embodiments, the service terminal 130 may establish a communication connection with the server 110, the reference station 140, the satellite positioning system 150, etc., respectively, through the network 120.

The following describes in detail the positioning processing method provided by the embodiment of the present application in conjunction with the content described in the positioning processing system 100 shown in FIG. 1. The following positioning processing method is applied to the above system, and the execution subject may be a service terminal or a service For the background server corresponding to the terminal, the preset scene can be designed and adjusted according to user needs, and any scene involving shared tools or real-time positioning can be used, and is not limited to the scene given in the embodiment.

Referring to FIG. 2, it is a schematic flowchart of a positioning processing method provided by an embodiment of this application, and the method includes:

S101: During the movement of the service terminal, receive the reference station positioning information and satellite positioning information according to a preset rule.

Optionally, the satellite positioning information may be positioning information collected by a global positioning system or positioning information collected by a Beidou navigation system, and there is no restriction here.

It should be noted that, in the embodiment of the present application, the service terminal may be a shared device or integrated on a shared device. Taking shared bicycles as an example, the service terminal may be installed on the lock of the shared bicycle or the shared bicycle. There are no restrictions on the bottom of the seat.

Optionally, in the shared device application scenario, before using the shared device, the user terminal can send a use request or unlock request to the server through an application (APP), and the server then sends a request instruction to the service terminal, and the service terminal receives the user’s After the instruction is requested, the user identity is verified. After the verification is passed, the service terminal sends the verification pass instruction to the user terminal through the server, and the user can start using the service terminal after the identity verification is passed.

During use, after the service terminal collects the current location information of the service terminal, it can be uploaded to the server to realize the position monitoring of the service terminal by the server. Optionally, the server may also synchronize positioning information to the user terminal so that the user can understand the current positioning.

The aforementioned user terminals may refer to smart terminals such as mobile phones, tablet computers, and wearable devices, and this application does not make specific restrictions.

S102: Using a preset difference algorithm, according to the satellite positioning information and the reference station positioning information, calculate and acquire the positioning information of the service terminal according to the first preset interval.

Optionally, in the embodiment of the present application, the preset differential algorithm used may be RTK technology. The RTK technology is based on processing the carrier phases of two measurement stations in time, and the carrier phase differential technology can provide observation points in real time. The three-dimensional coordinates, and achieve centimeter-level high precision, so as to achieve high-precision positioning of the observation point. Among them, the two stations include reference stations and satellite positioning systems. The user station receives the carrier phase of the satellite positioning system and the carrier phase of the reference station to form a phase difference observation value. By processing the phase difference observation value in time, it can give centimeter-level high-precision positioning results in time.

It should be noted that because many shared devices do not require high-precision real-time positioning, for example, shared bicycles, shared strollers and shared power banks move slowly during use, and generally only need to obtain user loans. , You can also locate the two nodes. Therefore, the real-time acquisition of positioning information during use will cause relatively large power consumption of the service terminal, and the effect is not large. In this embodiment, calculating and acquiring positioning information according to the first preset interval can reduce the power consumption of the service terminal.

It should be noted that the positioning information is calculated at the first preset interval. On the one hand, the positioning information may be obtained, but the calculation may be performed after a period of time, or the positioning information may be received after a period of time, or both. There is no specific limitation in this embodiment.

Optionally, the first preset time can be set to 30 seconds, or can be set to one minute or two minutes, which is specifically designed according to user needs, and there is no limitation here.

Using the positioning processing method provided in the embodiments of this application, the base station positioning information and satellite positioning information are received according to preset rules during the movement of the service terminal; the preset differential algorithm is used, according to the satellite positioning information and base station positioning information, according to The first preset interval calculation and acquisition of the positioning information of the service terminal can reduce the power consumption of positioning by calculating the positioning information once at a certain interval, and achieve the effect of realizing low-power accurate positioning.

FIG. 3 is a schematic flowchart of another positioning processing method provided by an embodiment of the application. As shown in FIG. 3, step S101 may specifically include:

S201: During the movement of the service terminal, receive the reference station positioning information according to the second preset interval, and receive the satellite positioning information in real time.

Optionally, the second preset interval may be the same as or different from the first preset interval, and there is no restriction here. The settings of the first preset interval and the second preset interval are both to reduce the calculation of positioning information. Frequency to reduce power consumption.

Because the propagation error, satellite ephemeris error and satellite clock error in the atmosphere in a short period of time affect the carrier transmitted by the satellite positioning system, there is usually no significant change, and there is no need to always receive positioning signals sent by ground reference stations to correct or eliminate these errors. . Therefore, in this embodiment, the reference station positioning information is received at the second preset interval and the satellite positioning information is received in real time. In this way, the frequency of receiving the reference station positioning information is reduced, thereby reducing the overall energy consumption of the positioning action.

Optionally, during the movement of the service terminal, the carrier phase sent by the reference station is received at a second preset interval, and the carrier phase sent by the satellite positioning system is received in real time. After receiving the carrier phase sent by a reference station, in the first 2. In the preset interval, the carrier phase sent by the reference station and the carrier phase sent by the real-time receiving satellite positioning system can be used to calculate the positioning information until the next second preset interval is reached. The carrier phase transmitted by the base station. Wherein, the first preset interval may be smaller than the second preset interval, that is, the carrier phase sent by the reference station can be obtained once and can be reused.

Or, every time the updated positioning information of the base station is obtained, the positioning information of the service terminal is calculated again according to the preset difference algorithm according to the obtained base station positioning information and satellite positioning information, and the currently calculated service The positioning information of the terminal is used as the current real-time position of the serving terminal until the next update of the positioning information of the serving terminal.

FIG. 4 is a schematic flowchart of a positioning processing method provided by another embodiment of this application. As shown in FIG. 4, step S101 includes:

S301: Acquire the lock state of the service terminal.

Among them, the locked state includes any of the following: an open state, a closed state, and a closing state.

For example, in the application scenario of a shared device, the on state is the state in which the user is using the shared device; the off state is the state in which the user is returning the shared device; the off state is the state in which the user has finished using the shared device and returned successfully.

S302: After determining that the serving terminal is in the moving process according to the locked state, receive the base station positioning information and satellite positioning information according to a preset rule.

Optionally, if the locked state is on, it is determined that the service terminal is moving, that is, the shared device is in use. At this time, the base station positioning information and satellite positioning information are received according to the preset rule.

If the locked state is closing, stop receiving the base station positioning information. Optionally, the location information obtained by the last calculation before stopping receiving the reference station location information is used as the location information returned by the user to the service terminal.

It should be noted that in the scenario of sharing tools, when the locked state is in the closing state, the current positioning result must be obtained once, which is used to record the location information of the service terminal when the service terminal was last stopped, which is convenient for the background to collect and manage immediately. Shared equipment in an unused state, and it is convenient for the user to check whether there are available shared equipment around the user’s current location through the mobile phone software, and the specific location of the available shared equipment; after obtaining the current positioning results, the service terminal stops receiving the reference station Positioning information, stop updating the positioning information until the locked state is turned on, then resume updating the positioning information according to the preset rules.

Using the positioning processing method provided by the embodiments of the present application, it is possible to calculate and obtain the positioning information of the service terminal according to the first preset interval during the movement of the service terminal, so as to achieve high-precision positioning of the service terminal while reducing the service terminal Power consumption solves the problem of high power consumption caused by real-time high-precision positioning in the prior art.

Based on the same inventive concept, the embodiment of this application also provides a positioning processing device corresponding to the positioning processing method. Since the principle of the device in the embodiment of this application to solve the problem is similar to the above-mentioned positioning processing method of the embodiment of this application, the implementation of the device is You can refer to the implementation of the method, and the repetition of beneficial effects will not be repeated.

Referring to FIG. 5, there is a schematic structural diagram of a positioning processing device provided by an embodiment of this application. As shown in FIG. 5, the device includes: a receiving module 401 and a calculation module 402, wherein:

The receiving module 401 is configured to receive reference station positioning information and satellite positioning information according to preset rules during the movement of the service terminal.

The calculation module 402 is configured to use a preset difference algorithm to calculate and obtain the positioning information of the service terminal according to the first preset interval according to the satellite positioning information and the reference station positioning information.

In some possible implementation manners, the receiving module 401 is specifically configured to receive the positioning information of the reference station according to the second preset interval and receive the satellite positioning information in real time during the movement of the service terminal.

In some possible implementations, the receiving module 401 is specifically configured to obtain the locked state of the service terminal. The locked state includes any one of the following: open state, closed state, and closing state; according to the locked state, it is determined that the service terminal is moving. After the middle, the base station positioning information and satellite positioning information are received according to preset rules.

In some possible implementations, the receiving module 401 is specifically configured to determine that the service terminal is in the process of moving if the locked state is in the on state; and receive the base station positioning information and satellite positioning information according to preset rules.

6 shows a schematic structural diagram of a positioning processing device provided by an embodiment of this application. As shown in FIG. 6, the device further includes: a stop module 403 configured to stop if the locked state is the closing state Receive base station positioning information.

In some possible implementations, the receiving module 401 is specifically configured to receive the carrier phase sent by the reference station according to the second preset interval and the carrier phase sent by the satellite positioning system in real time during the movement of the serving terminal.

As shown in FIG. 7, it is a schematic structural diagram of an electronic device provided by an embodiment of this application. The electronic device may be the aforementioned server or service terminal. The electronic device 600 includes a processor 601, a memory 602, and a bus 603. The memory 602 stores machine-readable instructions executable by the processor 601. When the electronic device 600 is running, the processor 601 communicates with the memory 602 through the bus 603, and the processor 601 executes the machine-readable instructions to execute the instructions as described above. The steps of the request processing method provided by the method embodiment.

Specifically, the machine-readable instructions stored in the memory 602 are the execution steps of the request processing method described in the foregoing embodiments of the application, and the processor 601 can execute the request processing method to process the request. Therefore, the electronic device also has All the beneficial effects described in the foregoing method embodiments will not be repeated in this application.

It should be noted that the electronic device can be a general-purpose computer or a special-purpose computer, and other servers for processing data, etc., all of which can be used to implement the request processing method of this application. Although this application only describes the request processing method through the computer and the server, for convenience, the functions described in this application can also be implemented in a distributed manner on multiple similar platforms to balance the processing load.

The electronic device 600 may include one or more processors 601, a bus 603, and a memory 602. The memory 602 stores machine-readable instructions executable by the processor 601. When the electronic device 600 is running, the processor 601 It communicates with the memory 602 through a bus 603, and the machine-readable instructions execute the following processing when executed by the processor 601:

During the movement of the service terminal, the base station positioning information and satellite positioning information are received according to preset rules;

The preset difference algorithm is used to calculate and obtain the positioning information of the service terminal according to the satellite positioning information and the reference station positioning information according to the first preset interval.

The embodiment of the present application also provides a storage medium on which a computer program is stored, and when the computer program is run by a processor, the steps of the above positioning processing method are executed.

Specifically, the storage medium can be a general storage medium, such as a removable disk, a hard disk, etc., and the computer program on the storage medium can execute the above-mentioned positioning processing method when it is run, thereby solving the problem of language expression in the prior art. There are various combinations, and a large amount of information will cause the sentence database to be too large and occupy too many resources, thereby achieving the effect of reducing resource occupation.

Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, which will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device, and method may be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division, and there may be other divisions in actual implementation. For example, multiple modules or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some communication interfaces, devices or modules, and may be in electrical, mechanical or other forms.

The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.

If the function is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a nonvolatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of this application essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

The above are only specific implementations of this application, but the scope of protection of this application is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and they should all be covered Within the scope of protection of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Industrial applicability

In the positioning processing method, device, electronic equipment, and storage medium provided in this application, the positioning information of the reference station and the satellite positioning information are received according to preset rules during the movement of the service terminal; the preset differential algorithm is adopted according to the satellite positioning The information and the reference station positioning information are calculated at a first preset interval to obtain the positioning information of the service terminal. The positioning information can be calculated once at a certain interval to reduce the power consumption of positioning, and achieve low-power precise positioning. effect.

Claims (16)

1. A positioning processing method, characterized in that the method includes:

   During the movement of the service terminal, the base station positioning information and satellite positioning information are received according to preset rules;

   A preset difference algorithm is used, and the positioning information of the service terminal is calculated and acquired according to the first preset interval according to the satellite positioning information and the reference station positioning information.
2. The method according to claim 1, wherein the step of receiving reference station positioning information and satellite positioning information according to a preset rule during the movement of the service terminal comprises:

   During the movement of the service terminal, the reference station positioning information is received at a second preset interval, and the satellite positioning information is received in real time.
3. The method according to claim 1 or 2, wherein during the movement of the service terminal, receiving the reference station positioning information and the satellite positioning information according to a preset rule includes:

   Acquire the lock state of the service terminal, where the lock state includes any one of the following: an open state, a closed state, and a closing state;

   After determining that the service terminal is in the moving process according to the locked state, the base station positioning information and the satellite positioning information are received according to a preset rule.
4. The method according to claim 3, wherein after determining that the service terminal is in the process of moving according to the locked state, receiving reference station positioning information and satellite positioning information according to a preset rule comprises:

   If the locked state is an open state, determining that the service terminal is in the process of moving;

   Receiving the reference station positioning information and the satellite positioning information according to the preset rule.
5. The method according to claim 3, wherein after obtaining the lock status of the service terminal, the method further comprises:

   If the locked state is the closing state, stop receiving the reference station positioning information.
6. The method according to claim 2, wherein the receiving the positioning information of the reference station according to the second preset interval and receiving the satellite positioning information in real time during the movement of the service terminal comprises:

   During the movement of the service terminal, the carrier phase sent by the reference station is received at the second preset interval, and the carrier phase sent by the satellite positioning system is received in real time.
7. The method according to claim 2, wherein the first preset interval is smaller than the second preset interval.
8. A positioning processing device, characterized in that the device comprises: a receiving module and a calculation module, wherein:

   The receiving module is configured to receive reference station positioning information and satellite positioning information according to preset rules during the movement of the service terminal;

   The calculation module is configured to use a preset difference algorithm to calculate and acquire the positioning information of the service terminal according to the first preset interval according to the satellite positioning information and the reference station positioning information.
9. The apparatus according to claim 8, wherein the receiving module is specifically configured to receive the positioning information of the reference station at a second preset interval and receive the satellite in real time during the movement of the service terminal Positioning information.
10. The device according to claim 8, wherein the receiving module is specifically configured to obtain the lock state of the service terminal, and the lock state includes any one of the following: an open state, a closed state, and a closing state ；

    After determining that the service terminal is in a moving process according to the locked state, receiving the reference station positioning information and the satellite positioning information according to the preset rule.
11. The device according to claim 10, wherein the receiving module is specifically configured to determine that the service terminal is in the process of moving if the locked state is an open state;

    Receiving the reference station positioning information and the satellite positioning information according to the preset rule.
12. The device according to claim 10, wherein the device further comprises: a stop module configured to stop receiving the reference station positioning information if the locked state is the closing state.
13. The apparatus according to claim 9, wherein the receiving module is specifically configured to receive the carrier phase sent by the reference station at the second preset interval during the movement of the service terminal, and receive it in real time. The carrier phase sent by the satellite positioning system.
14. The device of claim 9, wherein the first predetermined interval is smaller than the second predetermined interval.
15. An electronic device, characterized by comprising: a processor, a storage medium and a bus. The storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the bus The storage media communicate through a bus, and the processor executes the machine-readable instructions to execute the steps of the method according to any one of claims 1 to 7.
16. A storage medium, characterized in that a computer program is stored on the storage medium, and the computer program executes the steps of the method according to any one of claims 1 to 7 when the computer program is run by a processor.

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