Do i need to apply for transit visa from pudong airport to hongqiao?

Hi, my friends and i will be heading to Haneda via China Eastern from Singapore. However, we have to transit at PVG which our flight arrives at 4am and our flight to haneda will depart from hongqiao airport at 9am.
Help here, anyone knows whether do we need to apply for transit visa, we're holding Singapore passports and one of my friend's is a Malaysia passport.