Self-moving device, method for providing alarm about positioning fault in same, self-moving device, and automatic working system

A mobile station configured to move and work inside a working region defined on a map, including:

• a first antenna configured to receive a signal and a differential signal sent by a base station, the signal including a signal of a satellite;
• a first indication module coupled to the first antenna;
• a displacement sensor configured to detect movement of the mobile station;
• a first memory storing a computer program;
• and
• a first processor configured to invoke and execute the computer program stored in the first memory,
• wherein the first processor is further configured to:
• control the first indication module to perform indication,
• determine position information of one or more positions of the mobile station inside or outside of a working region based on the signal;
• control a movement of the mobile station based on the position information;
• determine a quality of the signal received by the first antenna;
• determine an indication manner of the first indication module based on the quality of the signal received by the first antenna;
• determine a movement of the base station based on a state of the mobile station, the differential signal, and the signal of a satellite signal,
• wherein the determining the movement of the base station includes:
• calculating a calculated position of the mobile station at a current time point according to the differential signal and the signal of a satellite;
• and
• determining whether the mobile station is in a stationary state based on an output value of the first displacement sensor of the mobile station;
• determine, when the mobile station is in the stationary state, whether the calculated position at the current time point is consistent with a calculated position at a previous time point;
• and
• control the first indication module to generate, when the calculated position at the current time point is not consistent with the calculated position at the previous time point, an indication of movement of the base station.