WO2021233381A1 - Data processing method and apparatus, device, and storage medium - Google Patents

Abstract

The present disclosure relates to the field of navigation and positioning technologies, and in particular, to a data processing method and apparatus, a device, and a storage medium. Said method is used in a first self-mobile device in communication connection with a server, and comprises: receiving, by means of a cellular network, a differential correction value sent by the server; sending the differential correction value to a second self-mobile device, the second self-mobile device being at least one self-mobile device in communication connection with the first self-mobile device within a preset distance range; and performing navigation and positioning according to the differential correction value and a first satellite signal acquired from a satellite system. According to the embodiments of the present disclosure, by means of a plurality of self-mobile devices within a preset distance range, navigation and positioning can be performed by using a differential correction value received by the same self-mobile device, so that the number of self-mobile devices connected to a server is reduced while ensuring accurate positioning of each self-mobile device, greatly reducing the occupation of communication traffic between a server and self-mobile devices.

Description

Data processing method, device, equipment and storage medium

This application claims the priority of the Chinese patent application whose application date is May 20, 2020 and the application number is 202010431442.7, the entire content of which is incorporated into this application by reference.

Technical field

The present disclosure relates to the field of navigation and positioning technology, and in particular to a data processing method, device, equipment, and storage medium.

Background technique

Since mobile devices have the feature that they do not require users to be on duty, they can perform automatic operations in the work area, and are currently more and more popular with users.

In the related technology, the mobile device uses the server to perform positioning and navigation for it. Usually, the self-mobile device mounts the self-mobile device to the server according to the user account purchased in advance; the self-mobile device receives the differential message sent by the server through the cellular network; the self-mobile device according to the differential message and the satellite signal obtained from the satellite system , For navigation and positioning.

However, when there are multiple self-mobile devices in the same user’s home, each self-mobile device needs to perform the above steps to achieve more accurate navigation and positioning, the operation process is complicated, and the communication traffic between the server and the self-mobile device takes up a lot. high.

Summary of the invention

In view of this, the present disclosure proposes a data processing method, device, equipment, and storage medium. The technical solution includes:

According to an aspect of the present disclosure, there is provided a data processing method for use in a first self-mobile device that has established a communication connection with a server, and the method includes:

Receiving the differential correction number sent by the server through a cellular network;

Forwarding the differential correction number to a second self-mobile device, where the second self-mobile device is at least one self-mobile device that has established a communication connection with the first self-mobile device within a preset distance range;

Perform navigation and positioning according to the differential correction number and the first satellite signal obtained from the satellite system.

In another possible implementation manner, the first self-moving device is an automatic lawn mower.

In another possible implementation manner, the forwarding the differential correction number to the second self-mobile device includes:

Forwarding the differential correction number to the second self-mobile device through a short-distance transmission mode;

Wherein, the short-distance transmission methods include Wireless Fidelity (WIFI) mode, home radio frequency (English: HomeRF) mode, UltraWide Band (UWB) mode, ZigBee (English: ZigBee) mode, and Bluetooth mode. At least one of them.

In another possible implementation manner, before forwarding the differential correction number to the second self-mobile device, the method further includes:

Receiving a connection request sent by the second self-mobile device, where the connection request is used to instruct the first self-mobile device to establish a communication connection with the second self-mobile device;

After the communication connection is successfully established, receiving second verification information sent by the second self-mobile device;

After the verification of the second verification information is passed, the step of forwarding the differential correction number to the second self-mobile device is performed.

In another possible implementation manner, before the receiving the differential correction number sent by the server through the cellular network, the method further includes:

Send first verification information to the server, where the first verification information includes the account information of the first self-mobile device and the mount point information of the server, and the first verification information is used to indicate that the server is After the first verification information is verified, the differential correction number is sent to the first self-mobile device.

According to another aspect of the present disclosure, a data processing method is provided for use in a second self-mobile device that has established a communication connection with a first self-mobile device, and the first self-mobile device establishes communication with a server through a cellular network Connection, the method includes:

Receiving a differential correction number forwarded by the first self-mobile device, where the differential correction number is a differential correction number sent by the server and received by the first self-mobile device through a cellular network;

Perform navigation and positioning according to the differential correction number and the second satellite signal obtained from the satellite system.

In another possible implementation manner, the first self-moving device is an automatic lawn mower.

In another possible implementation manner, the receiving the first differential correction number forwarded by the mobile device includes:

Receiving the differential correction number forwarded by the first self-mobile device in a short-distance transmission manner;

Wherein, the short-distance transmission mode includes at least one of WIFI mode, HomeRF mode, UWB mode, ZigBee mode, Bluetooth mode, and radio mode.

In another possible implementation manner, before the receiving the first differential correction number forwarded by the mobile device, the method further includes:

Sending a connection request to the first self-mobile device, where the connection request is used to instruct the first self-mobile device to establish a communication connection with the second self-mobile device;

After the communication connection is successfully established, send second verification information to the first self-mobile device, where the second verification information is used to instruct the first self-mobile device to verify the second verification information, The step of forwarding the differential correction number to the second self-mobile device is performed.

In another possible implementation manner, when the communication connection between the second self-mobile device and the first self-mobile device is interrupted, the method further includes:

Establish a communication connection with the server;

Send third verification information to the server, where the third verification information includes the account information of the second self-mobile device and the mount point information of the server, and the third verification information is used to indicate that the server is Sending the differential correction number to the second self-mobile device after the verification of the third verification information is passed;

Continuously sending a connection request to the first self-mobile device.

In another possible implementation manner, after the second self-mobile device re-establishes a communication connection with the first self-mobile device, the method further includes: logging out of the account on the server, and/or Disconnect the communication connection with the server.

According to another aspect of the present disclosure, there is provided a data processing apparatus for use in a first self-mobile device that has a communication connection with a server, the apparatus including:

A receiving module, configured to receive the differential correction number sent by the server through a cellular network;

The forwarding module is configured to forward the differential correction number to a second self-mobile device, and the second self-mobile device is at least one self-mobile device that has established a communication connection with the first self-mobile device within a preset distance range. Mobile devices;

The positioning module is used to perform navigation and positioning according to the differential correction number and the first satellite signal obtained from the satellite system.

In another possible implementation manner, the first self-moving device is an automatic lawn mower.

In another possible implementation manner, the forwarding module is further configured to forward the differential correction number to the second self-mobile device through a short-distance transmission manner;

Wherein, the short-distance transmission mode includes at least one of WIFI mode, HomeRF mode, UWB mode, ZigBee mode, Bluetooth mode, and radio mode.

In another possible implementation manner, the receiving module is further configured to receive a connection request sent by the second self-mobile device, and the connection request is used to instruct the first self-mobile device to communicate with the second self-mobile device. Establish a communication connection from a mobile device;

The receiving module is further configured to receive the second verification information sent by the second self-mobile device after the communication connection is successfully established;

The forwarding module is further configured to perform the step of forwarding the differential correction number to the second self-mobile device after the verification of the second verification information is passed.

In another possible implementation manner, the apparatus further includes: a sending module configured to send first verification information to the server, where the first verification information includes the information of the first self-mobile device Account information and mount point information of the server, and the first verification information is used to instruct the server to send the differential correction number to the first self-mobile device after the first verification information is verified.

According to another aspect of the present disclosure, there is provided a data processing apparatus for use in a second self-mobile device that has established a communication connection with a first self-mobile device, and the first self-mobile device establishes communication with a server through a cellular network Connected, the device includes:

A receiving module, configured to receive a differential correction number forwarded by the first self-mobile device, where the differential correction number is a differential correction number sent by the server and received by the first self-mobile device through a cellular network;

The positioning module is used to perform navigation and positioning according to the differential correction number and the second satellite signal obtained from the satellite system.

In another possible implementation manner, the first self-moving device is an automatic lawn mower.

In another possible implementation manner, the receiving module is further configured to receive the differential correction number forwarded by the first self-mobile device in a short-distance transmission manner;

Wherein, the short-distance transmission mode includes at least one of WIFI mode, HomeRF mode, UWB mode, ZigBee mode, Bluetooth mode, and radio mode.

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

Sending a connection request to the first self-mobile device, where the connection request is used to instruct the first self-mobile device to establish a communication connection with the second self-mobile device;

After the communication connection is successfully established, send second verification information to the first self-mobile device, where the second verification information is used to instruct the first self-mobile device to verify the second verification information, The step of forwarding the differential correction number to the second self-mobile device is performed.

According to another aspect of the present disclosure, there is provided a self-mobile device, the self-mobile device being a first self-mobile device that has established a communication connection with a server through a cellular network, and the first self-mobile device includes: a processor; A memory for storing processor executable instructions;

Wherein, the processor is configured to:

Receiving the differential correction number sent by the server through a cellular network;

Forwarding the differential correction number to a second self-mobile device, where the second self-mobile device is at least one self-mobile device that has established a communication connection with the first self-mobile device within a preset distance range;

Perform navigation and positioning according to the differential correction number and the first satellite signal obtained from the satellite system.

According to another aspect of the present disclosure, a self-mobile device is provided. The self-mobile device is a second self-mobile device that has established a communication connection with a first self-mobile device. The first self-mobile device and the server communicate with each other through cellular The network establishes a communication connection, and the second self-mobile device includes: a processor; a memory for storing executable instructions of the processor;

Wherein, the processor is configured to:

Receiving a differential correction number forwarded by the first self-mobile device, where the differential correction number is a differential correction number sent by the server and received by the first self-mobile device through a cellular network;

Perform navigation and positioning according to the differential correction number and the second satellite signal obtained from the satellite system.

According to another aspect of the present disclosure, a mobile working system is provided. The mobile working system includes a first self-mobile device and at least one second self-mobile device that establishes a communication connection with the first self-mobile device, so The first mobile device establishes a communication connection with the server through a cellular network;

The first self-mobile device is configured to execute the steps in the above-mentioned data processing method executed by the first self-mobile device;

The second self-mobile device is used to execute the steps in the above-mentioned data processing method executed by the second self-mobile device.

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

In the embodiment of the present disclosure, the first self-mobile device that has established a communication connection with the server receives the differential correction number sent by the server through the cellular network; the differential correction number is forwarded to the second self-mobile device, which is at a preset distance At least one self-mobile device that has a communication connection with the first self-mobile device within the range; performs navigation and positioning according to the differential correction number and the first satellite signal obtained from the satellite system; makes multiple self-mobile devices within the preset distance range Mobile devices can use the differential correction data received by the same mobile device for navigation and positioning, avoiding the need for each mobile device to connect to the server and receive data when there are multiple mobile devices in the same user’s home in related technologies. Under the premise of ensuring accurate positioning of each self-mobile device, reduce the number of self-mobile devices connected to the server, which greatly reduces the communication traffic between the server and the self-mobile device, thereby greatly reducing the cost of precise navigation and positioning .

Description of the drawings

The drawings included in the specification and constituting a part of the specification together with the specification illustrate exemplary embodiments, features, and aspects of the present disclosure, and are used to explain the principle of the present disclosure.

Fig. 1 shows a schematic structural diagram of a positioning and navigation system provided by an exemplary embodiment of the present disclosure;

Fig. 2 shows a flowchart of a data processing method provided by an exemplary embodiment of the present disclosure;

Fig. 3 shows a flowchart of a data processing method provided by another exemplary embodiment of the present disclosure;

Fig. 4 shows a flowchart of a data processing method provided by another exemplary embodiment of the present disclosure;

FIG. 5 shows a schematic diagram of an application scenario involved in a data processing method provided by another exemplary embodiment of the present disclosure;

Fig. 6 shows a schematic structural diagram of a data processing device provided by an exemplary embodiment of the present disclosure;

FIG. 7 shows a schematic structural diagram of a data processing device provided by another exemplary embodiment of the present disclosure;

Fig. 8 is a block diagram showing a device for executing a data processing method according to an exemplary embodiment.

Detailed ways

Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the drawings. The same reference numerals in the drawings indicate elements with the same or similar functions. Although various aspects of the embodiments are shown in the drawings, unless otherwise noted, the drawings are not necessarily drawn to scale.

The dedicated word "exemplary" here means "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" need not be construed as being superior or better than other embodiments.

In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. Those skilled in the art should understand that the present disclosure can also be implemented without certain specific details. In some instances, the methods, means, elements, and circuits well known to those skilled in the art have not been described in detail, so as to highlight the gist of the present disclosure.

In related technologies, using a server to perform positioning and navigation from a mobile device usually includes the following steps: receiving a differential message sent by the server from the mobile device through a cellular network; Positioning signal, etc.) for navigation and positioning.

Therefore, because the mobile device needs to receive the differential correction data sent by the server through the cellular network for a long time to adjust its own coordinate positioning in real time to perform the work task, and each received data of the differential correction data needs to occupy communication traffic. , So it is easy to generate high traffic charges during the entire working hours, especially when there are multiple self-mobile devices in the user’s home to work in a wide range of work areas, the traffic charges generated will increase by multiples. It will be a great burden for users, and this is also a problem that has plagued users for a long time. In addition, when there are multiple self-mobile devices in the same user’s home, each self-mobile device needs to perform the above steps to achieve more accurate navigation and positioning. The operation process is complicated, and the related technology has not yet provided a reasonable and Effective solution.

The embodiments of the present disclosure provide a data processing method, device, equipment, and storage medium. In the embodiments of the present disclosure, multiple self-mobile devices within a preset distance range can use the differential correction number received by the same self-mobile device to perform navigation and positioning, which avoids when there are multiple self-mobile devices in the same user’s home in the related art. When each self-mobile device needs to be connected to the server and receive data, under the premise of ensuring that each self-mobile device is positioned accurately, the number of self-mobile devices connected to the server is reduced, and the difference between the server and the self-mobile device is greatly reduced. Inter-communication traffic is occupied.

First, the application scenarios involved in the present disclosure are introduced.

Please refer to FIG. 1, which shows a schematic structural diagram of a positioning and navigation system provided by an exemplary embodiment of the present disclosure. The positioning and navigation system includes a server 12 and multiple self-mobile devices. The multiple self-mobile devices include a first self-mobile device 14 and a second self-mobile device 16.

Optionally, the server 12 is a Continuously Operating Reference Stations (CORS) server.

Self-mobile devices are mobile devices with navigation and positioning functions. Among them, the self-moving equipment can be automatic lawn mowers, automatic cleaning equipment, automatic watering equipment, automatic snow sweepers and other equipment suitable for unattended operation, or the self-moving equipment can also be small electric vehicles, electric robots, and electronic equipment. Devices such as wearable products are not limited in the embodiments of the present disclosure.

Optionally, the self-mobile device includes a mobile module and a task execution module, and a drive circuit connecting the mobile module and the task execution module. The drive circuit drives the mobile module to drive the self-mobile device to move, and drives the task execution module to perform work tasks.

Optionally, the self-mobile device includes a housing and a mobile station connected to the housing, and the server establishes a communication connection with the self-mobile device through the mobile station. In a possible implementation manner, the mobile station and the self-mobile device are detachably connected. The mobile station is located in the housing of the self-mobile device or outside the housing of the self-mobile device. The embodiments of the present disclosure do not limit this.

The first mobile device 14 is a device with a cellular network communication function.

Illustratively, the first self-moving device is an automatic lawn mower. For example, the first mobile device is an automatic lawn mower located at a fixed position in the target area. For another example, the first self-moving device is a movable automatic lawn mower. This embodiment does not limit this.

Among them, the cellular network is also called a mobile communication network, and the cellular network includes any one of a 2g network, a 3g network, a 4g network, and a 5g network. The embodiments of the present disclosure do not limit this.

For example, if there are multiple self-mobile devices in the target area, one self-mobile device is set as the first self-mobile device 14 among the multiple self-mobile devices, and the first self-mobile device 14 establishes a communication connection with the server 12. Other self-mobile devices within the preset distance range of the first self-mobile device 14, that is, the second self-mobile device 16 establish a communication connection with the first self-mobile device 14. The first self-mobile device 14 is the only self-mobile device that has established a communication connection with the server 12 in the target area.

That is, the first self-mobile device 14 is a self-mobile device that has established a communication connection with the server 12, and the second self-mobile device 16 is at least one that has a communication connection with the first self-mobile device 14 within a preset distance range. Since the mobile device.

When the first mobile device 14 uses the server 12 for positioning, it needs to purchase a corresponding account first, and the account is used to mount the first mobile device 14 to the server 12. The first self-mobile device 14 is used to mount to the server 12, and receive the differential correction data sent by the server 12 through the cellular network.

The first self-mobile device 14 is also used to forward the differential correction number to the second self-mobile device 16 after receiving the differential correction number.

Optionally, the first self-mobile device 14 is also used to forward the differential correction number to the second self-mobile device through a short-distance transmission manner. Among them, the short-distance transmission mode includes at least one of WIFI mode, HomeRF mode, UWB mode, ZigBee mode, Bluetooth mode, and radio mode. Among them, the radio mode is a long-distance connection mode, which can achieve effective transmission within a range of several kilometers or even more than ten kilometers, which is conducive to mobile work from mobile devices in a large-scale work area, and also conducive to the preset distance Mobile work from mobile devices in many different work areas within the scope. It should be noted that in order to ensure the smooth communication of the radio station, the operating frequency and the location of the radio station should be selected correctly, the antenna should be selected reasonably and the direction of the erection should be paid attention to, so as to improve the anti-interference ability of the communication. The specific short-distance transmission method to be selected is not limited in the embodiment of the present disclosure.

The first self-mobile device 14 and/or the second self-mobile device 16 are also used to perform navigation and positioning according to the received differential correction number and the satellite signal received through its own antenna.

In the following, several exemplary embodiments are used to introduce the data processing method provided by the embodiments of the present disclosure.

Please refer to FIG. 2, which shows a flowchart of a data processing method provided by an exemplary embodiment of the present disclosure. In this embodiment, the method is used in the positioning and navigation system shown in FIG. 1 as an example. The method includes the following steps.

Step 201: The first mobile device receives the differential correction number sent by the server through the cellular network.

The first mobile device is a device that has established a communication connection with the server through a cellular network.

Optionally, the first self-moving device is an automatic lawn mower.

The first self-mobile device is the only self-mobile device in the target area that has established a communication connection with the server, and the target area includes multiple self-mobile devices.

The first mobile device receives the differential correction number sent by the server through the cellular network, and saves the differential correction number.

The first mobile device receives a differential message sent by the server, and the differential message includes a differential correction number.

Optionally, the first self-mobile device receives the differential correction number sent by the server in real time or every predetermined time interval.

The predetermined time interval is preset or customized. This embodiment does not limit this.

The differential correction number is the data used for navigation and positioning after correcting the received satellite signal. For example, the differential correction number is a real-time kinematic (RTK) correction number.

Step 202: The first self-mobile device forwards the differential correction number to the second self-mobile device.

Wherein, the second self-mobile device is at least one self-mobile device that has established a communication connection with the first self-mobile device within a preset distance range.

Optionally, the second self-mobile device is a plurality of self-mobile devices that are within a preset distance range of the first self-mobile device and have established communication connections with the first self-mobile device.

Within the preset distance range, since the atmospheric ionosphere and troposphere change little, the first self-mobile device and the second self-mobile device can use the same differential correction number for navigation and positioning. Illustratively, the preset distance range is a circular area with the first self-moving device as the center and the preset distance as the radius. For example, the preset distance is 100m, 300m, 500m, 1km, 2km, 3km, 5km, or 10km. This embodiment does not limit this.

It should be noted that step 202 and step 203 may be executed in parallel, or step 202 may be executed first, and then step 203 may be executed; step 203 may also be executed first, and then step 202 may be executed. This embodiment does not limit this.

Step 203: The first mobile device performs navigation and positioning according to the differential correction number and the first satellite signal obtained from the satellite system.

The first satellite signal sent by the satellite system received by the first mobile device through its own antenna performs navigation and positioning according to the differential correction number and the first satellite signal. Illustratively, the first self-mobile device corrects the first satellite signal according to the differential correction number to obtain the positioning position of the first self-mobile device.

It should be noted that the embodiment of the present disclosure does not limit the way of performing navigation and positioning based on the differential correction number and the first satellite signal.

Step 204: The second self-mobile device receives the differential correction number forwarded by the first self-mobile device.

Wherein, the difference correction number is the first difference correction number sent by the server received by the mobile device through the cellular network.

It should be noted that step 204 and step 205 may be executed before step 203, or may be executed in parallel with step 203, or may be executed after step 203, which is not limited in the embodiment of the present disclosure.

Step 205: The second mobile device performs navigation and positioning according to the differential correction number and the second satellite signal obtained from the satellite system.

The second satellite signal sent by the satellite system received by the second mobile device through its own antenna performs navigation and positioning according to the differential correction number and the second satellite signal. Illustratively, the second self-mobile device corrects the second satellite signal according to the differential correction number to obtain the positioning position of the second self-mobile device.

It should be noted that the embodiment of the present disclosure does not limit the way of performing navigation and positioning based on the differential correction number and the second satellite signal.

In summary, in the embodiments of the present disclosure, the first self-mobile device that has established a communication connection with the server receives the differential correction number sent by the server through the cellular network; the differential correction number is forwarded to the second self-mobile device, and the second self-mobile device It is at least one self-mobile device that has established a communication connection with the first self-mobile device within a preset distance range; performs navigation and positioning according to the differential correction number and the first satellite signal obtained from the satellite system; so that it is within the preset distance range Multiple self-mobile devices inside can use the differential correction data received by the same self-mobile device for navigation and positioning, which avoids the need for each self-mobile device to communicate with the server when there are multiple self-mobile devices in the same user’s home in related technologies. In the case of connecting and receiving data, under the premise of ensuring that each self-mobile device is positioned accurately, the number of self-mobile devices connected to the server is reduced, which greatly reduces the communication traffic between the server and the self-mobile device, thereby greatly reducing The cost of precise navigation and positioning.

In addition, the use of the connection method disclosed in the foregoing embodiment can also effectively avoid the problem of inaccurate positioning caused by data transmission delay. Since the atmospheric ionosphere and troposphere change little during the delay time, the first self-mobile device and the second self-mobile device can still use the same differential correction number for navigation and positioning. In addition, even if the second self-mobile device is disconnected from the first self-mobile device during the movement and deviates from the original working path, when the second self-mobile device establishes a connection with the first self-mobile device again, the second self-mobile device It can reposition its own coordinates, and then quickly return to the original working path to continue working.

Please refer to FIG. 3, which shows a flowchart of a data processing method provided by another exemplary embodiment of the present disclosure. In this embodiment, the method is used in the positioning and navigation system shown in FIG. 1 as an example. The method includes the following steps.

Step 301: The first self-mobile device sends first verification information to the server. The first verification information includes the account information of the first self-mobile device and the mount point information of the server. The first verification information is used to indicate that the server is in the first verification information. After the verification is passed, the differential correction number is sent to the first self-mobile device.

Optionally, the first mobile device stores the Internet Protocol Address (IP) address and port information of the server, and the first mobile device sends a connection request to the server according to the stored IP address and port information of the server , The connection request is used to instruct the server to establish a communication connection with the first mobile device. After the first self-mobile device successfully establishes a connection with the server, the first self-mobile device sends the first verification information to the server.

The first verification information includes account information of the first self-mobile device and mount point information of the server, and the first verification information is used to instruct the server to send a differential correction number to the first self-mobile device after the first verification information is verified.

Optionally, the account information of the first mobile device includes the account name and account password that the first mobile device applies for in advance. The mount point information of the server includes the mount point name of the server. This embodiment does not limit this.

Optionally, the first self-moving device is an automatic lawn mower.

Step 302: The first mobile device receives the differential correction number sent by the server through the cellular network.

The server sends the differential correction number to the first self-mobile device after the first verification information is verified, and correspondingly, the first self-mobile device receives the differential correction number sent by the server through the cellular network.

Wherein, the first mobile device receives the differential correction number sent by the server through the cellular network. The embodiment of the present disclosure does not limit the type of the cellular network.

Step 303: The first mobile device performs navigation and positioning according to the differential correction number and the first satellite signal obtained from the satellite system.

The first self-mobile device obtains the first satellite signal from the satellite system through the antenna of the first self-mobile device, and performs navigation and positioning according to the differential correction number and the first satellite signal. For related details, please refer to the related description of the navigation and positioning of the first self-mobile device according to the differential correction number and the first satellite signal in the foregoing embodiment, which will not be repeated here.

Step 304: The first self-mobile device forwards the differential correction number to the second self-mobile device through a short-distance transmission manner.

Wherein, the second self-mobile device is at least one self-mobile device that has established a communication connection with the first self-mobile device within a preset distance range.

The short-distance transmission mode includes at least one of WIFI mode, HomeRF mode, UWB mode, ZigBee mode, Bluetooth mode, and radio mode. The embodiments of the present disclosure do not limit this.

Optionally, before the first self-mobile device forwards the differential correction number to the second self-mobile device, the method further includes: the first self-mobile device receives a connection request sent by the second self-mobile device, and the connection request is used to instruct the first self-mobile device The device establishes a communication connection with the second self-mobile device; after the communication connection is successfully established, receives the second verification information sent by the second self-mobile device; after the verification of the second verification information is passed, forwards the differential correction number to the second self Steps to move the device.

The second self-mobile device sends a connection request to the first self-mobile device. Correspondingly, the first self-mobile device receives the connection request, and establishes a communication connection with the second self-mobile device according to the connection request.

Optionally, the second self-mobile device stores the IP address and port information of the first self-mobile device, and the second self-mobile device sends the information to the first self-mobile device according to the stored IP address and port information of the first self-mobile device. Send a connection request.

After the communication connection between the first self-mobile device and the second self-mobile device is successfully established, the second self-mobile device sends second verification information to the first self-mobile device, and correspondingly, the first self-mobile device receives the second verification information , Verifying the second verification message, and after the second verification information is verified, the first self-mobile device performs the step of forwarding the differential correction number to the second self-mobile device.

Optionally, after the verification of the second verification information fails, the first self-mobile device disconnects the communication connection with the second self-mobile device.

In a possible implementation manner, the first self-mobile device to verify the second verification message includes: the first self-mobile device determines whether a character string at a specified position in the second verification information is a specified character string, if the first self-mobile device 2. The character string at the designated position in the verification information is a designated character string, which means that the verification of the second verification information is passed; if it does not exist, it means that the verification of the second verification information is not passed.

After the verification of the second verification information is passed, the first self-mobile device forwards the differential correction number to the second self-mobile device through a short-distance transmission manner.

Step 305: The second self-mobile device receives the differential correction number forwarded by the first self-mobile device in a short-distance transmission manner.

The second self-mobile device receives the differential correction number forwarded by the first self-mobile device in a short-distance transmission manner.

Step 306: The second mobile device performs navigation and positioning according to the differential correction number and the second satellite signal obtained from the satellite system.

The second self-mobile device obtains the second satellite signal from the satellite system through the antenna of the second self-mobile device, and performs navigation and positioning according to the differential correction number and the second satellite signal. For related details, please refer to the related description of the second self-mobile device performing navigation and positioning according to the differential correction number and the second satellite signal in the foregoing embodiment, which will not be repeated here.

It should be noted that step 304, step 305, and step 306 may be executed before step 303, or may be executed in parallel with step 303, or may be executed after step 303, which is not limited in the embodiment of the present disclosure.

In a possible implementation manner, as shown in FIG. 4, 1. The first mobile device mounts to the server through the cellular network according to account information and mount point information. 2. The first mobile device receives the RTK correction number sent by the server through the mobile website. 3. The first mobile device receives the first satellite signal through its own antenna. 4. The first mobile device performs navigation and positioning according to the RTK correction number and the first satellite signal. 5. The first mobile device is moving or stationary. 6. The first self-mobile device forwards the RTK correction data to the second self-mobile device through short-distance transmission. 7. The second self-mobile device receives the RTK correction number forwarded by the first self-mobile device. 8. The second mobile device receives the second satellite signal through its own antenna. 9. The second mobile device performs navigation and positioning according to the RTK correction number and the second satellite signal. 10. The second self-mobile device is moving or stationary.

In another possible implementation manner, when the communication connection between the second self-mobile device and the first self-mobile device is interrupted, the method of this embodiment further includes: sending third verification information to the server, and the third verification information includes the second self-mobile device. The account information of the self-mobile device and the mount point information of the server, and the third verification information is used to instruct the server to send the differential correction number to the second self-mobile device after the verification of the third verification information is passed.

Optionally, the second mobile device stores the Internet Protocol Address (IP) address and port information of the server, and the second mobile device sends a connection request to the server according to the stored IP address and port information of the server , The connection request is used to instruct the server to establish a communication connection with the second mobile device. After the second self-mobile device successfully establishes a connection with the server, the second self-mobile device sends the third verification information to the server. Wherein, the third verification information includes account information of the second mobile device and mount point information of the server, and the third verification information is used to instruct the server to send a differential correction number to the second mobile device after the verification of the third verification information is passed. Optionally, the account information of the second mobile device includes the account name and account password pre-applied for by the second mobile device. The mount point information of the server includes the mount point name of the server. This embodiment does not limit this. Optionally, the second self-mobile device continues to send a connection request to the first self-mobile device when the communication connection with the first self-mobile device is interrupted, so as to re-establish the communication connection with the first self-mobile device as soon as possible and reduce the data cost. The production. Optionally, the second self-moving device is an automatic lawn mower.

Through the above method, even if one or more second self-mobile devices are disconnected from the first self-mobile device during the movement, the second self-mobile device can establish a communication connection with the server via the cellular network in time, thereby continuing to receive Differential correction number (that is, RTK correction data), to ensure the realization of precise navigation and positioning.

In a possible implementation, when the second self-mobile device re-establishes a connection with the first self-mobile device, the second self-mobile device can automatically disconnect from the server or log out of the account on the server. And continue to receive the first differential correction number forwarded from the mobile device, so as to reduce the occupation of communication traffic when sending the differential correction number, and reduce the cost of precise navigation and positioning. Of course, the second self-mobile device can also log out of the account on the server and also disconnect from the server. Preferably, when only logging out of the account on the server, it is advantageous for the second mobile device to directly log in to the account on the server when the connection with the first mobile device is interrupted, so that the differential correction data can be re-received more quickly. , To ensure the effective work of the second mobile device.

In an illustrative example, the first self-moving device and the second self-moving device are both automatic lawn mowers as an example. As shown in Figure 5, user A's home includes four automatic lawn mowers, one of which is preset The main lawn mower 51, the other three are slave lawn mowers 52. The main lawn mower 51 is mounted on the server through the cellular network in advance according to the account information and the mounting point information. The main lawn mower 51 receives the RTK correction data sent by the server through the mobile website, and receives the first satellite signal through its own antenna. The main lawn mower 51 can perform navigation and positioning according to the received RTK correction number and the first satellite signal. The master lawn mower 51 can also forward the RTK correction numbers to the three slave lawn mowers 52 through short-distance transmission. Correspondingly, the three slave lawnmowers 52 respectively receive the RTK correction data forwarded by the master lawnmower 51. Each slave mower 52 performs navigation and positioning according to the RTK correction number and the second satellite signal received through its own antenna.

In summary, the embodiment of the present disclosure also sends first verification information to the server through the first self-mobile device. The first verification information includes the account information of the first self-mobile device and the mount point information of the server. The first verification information is used for Instructing the server to send the differential correction number to the first mobile device after the first verification information is verified; so that in the target area, only the first mobile device is required to apply for an account and carry out the mounting operation, which avoids every self-mobile device in the related technology. All mobile devices need to apply for an account and mount it to the server through account information, which further reduces the operation process and traffic overhead of applying for an account from the second mobile device.

In the embodiment of the present disclosure, after the communication connection between the first self-mobile device and the second self-mobile device is successfully established, the first self-mobile device receives the second verification information sent by the second self-mobile device; After that, the first self-mobile device forwards the differential correction number to the second self-mobile device; the first self-mobile device needs to verify the second self-mobile device before forwarding the differential correction number, ensuring data transmission between self-mobile devices Confidentiality and reliability.

The following are device embodiments of the embodiments of the disclosure. For parts that are not described in detail in the device embodiments, reference may be made to the technical details disclosed in the above method embodiments.

Please refer to FIG. 6, which shows a schematic structural diagram of a data processing device provided by an exemplary embodiment of the present disclosure. The data processing apparatus can be implemented as all or a part of the first mobile device through software, hardware, and a combination of the two. The first mobile device is a device that has a communication connection with a server through a cellular network. The device includes: a receiving module 610, a forwarding module 620, and a positioning module 630.

The receiving module 610 is configured to receive the differential correction number sent by the server through the cellular network;

The forwarding module 620 is configured to forward the differential correction number to a second self-mobile device, where the second self-mobile device is at least one self-mobile device that has established a communication connection with the first self-mobile device within a preset distance range;

The positioning module 630 is configured to perform navigation and positioning according to the differential correction number and the first satellite signal obtained from the satellite system.

In another possible implementation manner, the first self-moving device is an automatic lawn mower.

In another possible implementation manner, the forwarding module 620 is further configured to forward the differential correction number to the second self-mobile device through a short-distance transmission mode;

Among them, the short-distance transmission mode includes at least one of WIFI mode, HomeRF mode, UWB mode, ZigBee mode, Bluetooth mode, and radio mode.

In another possible implementation manner, the receiving module 610 is further configured to receive a connection request sent by the second self-mobile device, where the connection request is used to instruct the first self-mobile device to establish a communication connection with the second self-mobile device;

The receiving module 610 is further configured to receive the second verification information sent by the second mobile device after the communication connection is successfully established;

The forwarding module 620 is further configured to perform the step of forwarding the differential correction number to the second self-mobile device after the verification of the second verification information is passed.

In another possible implementation manner, the device further includes: a sending module configured to send first verification information to the server, the first verification information including account information of the first mobile device and mount point information of the server , The first verification information is used to instruct the server to send the differential correction number to the first self-mobile device after the first verification information is verified.

It should be noted that, when the device provided in the above embodiment realizes its functions, only the division of the above functional modules is used as an example. In actual applications, the above functions can be allocated by different functional modules according to actual needs, i.e. The content structure of the device is divided into different functional modules to complete all or part of the functions described above.

Regarding the device in the foregoing embodiment, the specific manner in which each module performs operation has been described in detail in the embodiment of the method, and detailed description will not be given here.

Please refer to FIG. 7, which shows a schematic structural diagram of a data processing device provided by another exemplary embodiment of the present disclosure. The data processing device can be implemented as all or a part of a self-mobile device through software, hardware, and a combination of the two. The self-mobile device is a second self-mobile device that has a communication connection with the first self-mobile device. The device and the server establish a communication connection through the cellular network. The device includes: a receiving module 710 and a positioning module 720.

The receiving module 710 is configured to receive the differential correction number forwarded by the first self-mobile device, where the differential correction number is the differential correction number sent by the server received by the first self-mobile device through the cellular network;

The positioning module 720 is configured to perform navigation and positioning according to the differential correction number and the second satellite signal obtained from the satellite system.

In another possible implementation manner, the first self-moving device is an automatic lawn mower.

In another possible implementation manner, the receiving module 710 is further configured to receive the first differential correction number forwarded by the mobile device in a short-distance transmission manner;

Among them, the short-distance transmission mode includes at least one of WIFI mode, HomeRF mode, UWB mode, ZigBee mode, Bluetooth mode, and radio mode.

In another possible implementation manner, the device further includes: a sending module; and a sending module for:

Sending a connection request to the first self-mobile device, where the connection request is used to instruct the first self-mobile device to establish a communication connection with the second self-mobile device;

After the communication connection is successfully established, the second verification information is sent to the first self-mobile device. The second verification information is used to instruct the first self-mobile device to forward the differential correction number to the second self-mobile device after the second verification information is verified. Steps to move the device.

It should be noted that, when the device provided in the above embodiment realizes its functions, only the division of the above functional modules is used as an example. In actual applications, the above functions can be allocated by different functional modules according to actual needs, i.e. The content structure of the device is divided into different functional modules to complete all or part of the functions described above.

Regarding the device in the foregoing embodiment, the specific manner in which each module performs operation has been described in detail in the embodiment of the method, and detailed description will not be given here.

The embodiment of the present disclosure also provides a self-mobile device, the self-mobile device is a first self-mobile device that has a communication connection with a server through a cellular network, and the first self-mobile device includes: a processor; and a storage processor A memory for executable instructions; wherein the processor is configured to implement the steps executed by the first self-mobile device in the foregoing method embodiments.

According to another aspect of the present disclosure, a self-mobile device is provided. The self-mobile device is a second self-mobile device that has established a communication connection with a first self-mobile device, and the first self-mobile device establishes a communication connection with a server through a cellular network. , The second self-mobile device includes: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured to implement the steps executed by the second self-mobile device in the foregoing method embodiments.

The embodiment of the present disclosure also provides a mobile working system. The mobile working system includes a first self-mobile device and at least one second self-mobile device that establishes a communication connection with the first self-mobile device. The first self-mobile device communicates with the server. The cellular network establishes a communication connection;

The first self-mobile device is configured to implement the steps performed by the first self-mobile device in the foregoing method embodiments;

The second self-mobile device is used to implement the steps executed by the second self-mobile device in the foregoing method embodiments.

The embodiments of the present disclosure also provide a non-volatile computer-readable storage medium on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the methods in the foregoing method embodiments are implemented.

Fig. 8 is a block diagram showing a device for executing a data processing method according to an exemplary embodiment. The apparatus 800 may be the above-mentioned first self-moving device, or may be the above-mentioned second self-moving device. For example, the apparatus 800 is an intelligent mobile robot.

8, the device 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, And the communication component 816.

The processing component 802 generally controls the overall operations of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the foregoing method. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations in the device 800. Examples of such data include instructions for any application or method operating on the device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable and Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic Disk or Optical Disk.

The power supply component 806 provides power to various components of the device 800. The power supply component 806 may include a power management system, one or more power supplies, and other components associated with the generation, management, and distribution of power for the device 800.

The multimedia component 808 includes a screen that provides an output interface between the device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, sliding, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure related to the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. When the device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.

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

The I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module. The above-mentioned peripheral interface module may be a keyboard, a click wheel, a button, and the like. These buttons may include, but are not limited to: home button, volume button, start button, and lock button.

The sensor component 814 includes one or more sensors for providing the device 800 with various aspects of status assessment. For example, the sensor component 814 can detect the open/close state of the device 800 and the relative positioning of the components. For example, the component is the display and the keypad of the device 800. The sensor component 814 can also detect the position change of the device 800 or a component of the device 800. , The presence or absence of contact between the user and the device 800, the orientation or acceleration/deceleration of the device 800, and the temperature change of the device 800. The sensor component 814 may include a proximity sensor configured to detect the presence of nearby objects when there is no physical contact. The sensor component 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate wired or wireless communication between the device 800 and other devices. The device 800 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

In an exemplary embodiment, the apparatus 800 may be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing equipment (DSPD), programmable logic devices (PLD), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.

In an exemplary embodiment, there is also provided a non-volatile computer-readable storage medium, such as a memory 804 including computer program instructions, which can be executed by the processor 820 of the device 800 to implement the foregoing method.

The present disclosure may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium loaded with computer-readable program instructions for enabling a processor to implement various aspects of the present disclosure.

The computer-readable storage medium may be a tangible device that can hold and store instructions used by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) Or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a printer with instructions stored thereon The protruding structure in the hole card or the groove, and any suitable combination of the above. The computer-readable storage medium used here is not interpreted as the instantaneous signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (for example, light pulses through fiber optic cables), or through wires Transmission of electrical signals.

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

The computer program instructions used to perform the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or in one or more programming languages. Source code or object code written in any combination, the programming language includes object-oriented programming languages-such as Smalltalk, C++, etc., and conventional procedural programming languages-such as "C" language or similar programming languages. Computer-readable program instructions can be executed entirely on the user's computer, partly on the user's computer, executed as a stand-alone software package, partly on the user's computer and partly executed on a remote computer, or entirely on the remote computer or server implement. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network-including a local area network (LAN) or a wide area network (WAN)-or it can be connected to an external computer (for example, using an Internet service provider to connect to the user's computer). connect). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), can be customized by using the status information of the computer-readable program instructions. The computer-readable program instructions are executed to realize various aspects of the present disclosure.

Here, various aspects of the present disclosure are described with reference to flowcharts and/or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowcharts and/or block diagrams, and combinations of blocks in the flowcharts and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine that makes these instructions when executed by the processor of the computer or other programmable data processing device , A device that implements the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams is produced. It is also possible to store these computer-readable program instructions in a computer-readable storage medium. These instructions make computers, programmable data processing apparatuses, and/or other devices work in a specific manner. Thus, the computer-readable medium storing the instructions includes An article of manufacture, which includes instructions for implementing various aspects of the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.

It is also possible to load computer-readable program instructions on a computer, other programmable data processing device, or other equipment, so that a series of operation steps are executed on the computer, other programmable data processing device, or other equipment to produce a computer-implemented process , So that the instructions executed on the computer, other programmable data processing apparatus, or other equipment realize the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.

The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions, and operations of the system, method, and computer program product according to multiple embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or part of an instruction, and the module, program segment, or part of an instruction contains one or more components for realizing the specified logical function. Executable instructions. In some alternative implementations, the functions marked in the block may also occur in a different order from the order marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions Or it can be realized by a combination of dedicated hardware and computer instructions.

The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Without departing from the scope and spirit of the illustrated embodiments, many modifications and changes are obvious to those of ordinary skill in the art. The choice of terms used herein is intended to best explain the principles, practical applications, or technical improvements of the technologies in the market, or to enable other ordinary skilled in the art to understand the embodiments disclosed herein.

Claims (16)

1. A data processing method, characterized in that it is used in a first self-mobile device that has a communication connection with a server, and the method includes:

   Receiving the differential correction number sent by the server through a cellular network;

   Forwarding the differential correction number to a second self-mobile device, where the second self-mobile device is at least one self-mobile device that has established a communication connection with the first self-mobile device within a preset distance range;

   Perform navigation and positioning according to the differential correction number and the first satellite signal obtained from the satellite system.
2. The method according to claim 1, wherein the first self-moving device is an automatic lawn mower.
3. The method according to claim 1, wherein the forwarding the differential correction number to the second self-mobile device comprises:

   Forwarding the differential correction number to the second self-mobile device through a short-distance transmission mode;

   Wherein, the short-distance transmission mode includes at least one of WIFI mode, HomeRF mode, UWB mode, ZigBee mode, Bluetooth mode, and radio mode.
4. The method according to claim 1, wherein before forwarding the differential correction number to a second self-mobile device, the method further comprises:

   Receiving a connection request sent by the second self-mobile device, where the connection request is used to instruct the first self-mobile device to establish a communication connection with the second self-mobile device;

   After the communication connection is successfully established, receiving second verification information sent by the second self-mobile device;

   After the verification of the second verification information is passed, the step of forwarding the differential correction number to the second self-mobile device is performed.
5. The method according to claim 1, wherein before receiving the differential correction number sent by the server through a cellular network, the method further comprises:

   Send first verification information to the server, where the first verification information includes the account information of the first self-mobile device and the mount point information of the server, and the first verification information is used to indicate that the server is After the first verification information is verified, the differential correction number is sent to the first self-mobile device.
6. A data processing method, characterized in that it is used in a second self-mobile device that has established a communication connection with a first self-mobile device, the first self-mobile device and a server have a communication connection established through a cellular network, the method include:

   Receiving a differential correction number forwarded by the first self-mobile device, where the differential correction number is a differential correction number sent by the server and received by the first self-mobile device through a cellular network;

   Perform navigation and positioning according to the differential correction number and the second satellite signal obtained from the satellite system.
7. The method according to claim 6, wherein the receiving the first differential correction number forwarded by the mobile device comprises:

   Receiving the differential correction number forwarded by the first self-mobile device in a short-distance transmission manner;

   Wherein, the short-distance transmission mode includes at least one of WIFI mode, HomeRF mode, UWB mode, ZigBee mode, Bluetooth mode, and radio mode.
8. The method according to claim 6 or 7, wherein before the receiving the first differential correction number forwarded by the mobile device, the method further comprises:

   Sending a connection request to the first self-mobile device, where the connection request is used to instruct the first self-mobile device to establish a communication connection with the second self-mobile device;

   After the communication connection is successfully established, send second verification information to the first self-mobile device, where the second verification information is used to instruct the first self-mobile device to verify the second verification information, The step of forwarding the differential correction number to the second self-mobile device is performed.
9. The method according to claim 6 or 7, wherein when the communication connection between the second self-mobile device and the first self-mobile device is interrupted, the method further comprises:

   Establish a communication connection with the server;

   Send third verification information to the server, where the third verification information includes the account information of the second self-mobile device and the mount point information of the server, and the third verification information is used to indicate that the server is Sending the differential correction number to the second self-mobile device after the verification of the third verification information is passed;

   Continuously sending a connection request to the first self-mobile device.
10. The method according to claim 9, wherein after the second self-mobile device re-establishes a communication connection with the first self-mobile device, the method further comprises: logging out of the account on the server, And/or disconnect the communication connection with the server.
11. A data processing device, characterized in that, used in a first self-mobile device that establishes a communication connection with a server, the device includes:

    A receiving module, configured to receive the differential correction number sent by the server through a cellular network;

    The forwarding module is configured to forward the differential correction number to a second self-mobile device, and the second self-mobile device is at least one self-mobile device that has established a communication connection with the first self-mobile device within a preset distance range. Mobile devices;

    The positioning module is used to perform navigation and positioning according to the differential correction number and the first satellite signal obtained from the satellite system.
12. A data processing device, characterized in that it is used in a second self-mobile device that has a communication connection with a first self-mobile device, the first self-mobile device and a server establish a communication connection through a cellular network, and the device includes :

    A receiving module, configured to receive a differential correction number forwarded by the first self-mobile device, where the differential correction number is a differential correction number sent by the server and received by the first self-mobile device through a cellular network;

    The positioning module is used to perform navigation and positioning according to the differential correction number and the second satellite signal obtained from the satellite system.
13. A self-mobile device, characterized in that, the self-mobile device is a first self-mobile device that has established a communication connection with a server through a cellular network, and the first self-mobile device includes: a processor; Memory for executing instructions;

    Wherein, the processor is configured to:

    Receiving the differential correction number sent by the server through a cellular network;

    Forwarding the differential correction number to a second self-mobile device, where the second self-mobile device is at least one self-mobile device that has established a communication connection with the first self-mobile device within a preset distance range;

    Perform navigation and positioning according to the differential correction number and the first satellite signal obtained from the satellite system.
14. A self-mobile device, wherein the self-mobile device is a second self-mobile device that has established a communication connection with a first self-mobile device, and the first self-mobile device establishes a communication connection with a server through a cellular network, and The second self-mobile device includes: a processor; a memory for storing executable instructions of the processor;

    Wherein, the processor is configured to:

    Receiving a differential correction number forwarded by the first self-mobile device, where the differential correction number is a differential correction number sent by the server and received by the first self-mobile device through a cellular network;

    Perform navigation and positioning according to the differential correction number and the second satellite signal obtained from the satellite system.
15. A mobile working system, characterized in that the mobile working system comprises a first self-mobile device and at least one second self-mobile device that has a communication connection with the first self-mobile device, and the first self-mobile device Establish a communication connection with the server through the cellular network;

    The first self-mobile device is used to execute the steps in the data processing method according to any one of claims 1 to 5;

    The second self-mobile device is used to execute the steps in the data processing method according to any one of claims 6 to 10.
16. A non-volatile computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions implement the data processing method according to any one of claims 1 to 10 when the computer program instructions are executed by a processor .

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