E system kartoŋaaji nder suudu
Tuugnorgal karallaagal timmungal wonande njuɓɓudi jokkondire nder suudu See U : arsitektuur, sensorji, algoritmeeji, APIiji, e doggol kuutoragol.
Naatgol jaawngol
Yiyngo
Naatgol e njuɓɓudi kartoŋaaji
Hol ko woni njuɓɓudi kartoŋaaji nder suudu See U?
Siistem nder suudu See U ko laylaytol gonngol e nokkuuji udditiiɗi, ngol fusi laabi karallaagal sensor jeegom e fusiyoŋ yahruɗo yeeso ngam rokkude nokku laaɓtuɗo ɗo GPS heɓaaka.
Min kuutortoo ko moƴƴere keewnde tawa ina waɗi:
- Geolocation magnétique : “Koppi” magnetik keeriiɗo wonande kala mahaaɗe
- Wi‐Fi RTT: Waktuuji-diwgol ngam ƴeewde woɗɗude laaɓtunde
- Bluetooth LE: Bayyinaango ngam ankereeji e nokkuuji nafooji
- Sensooruuji inertial: Hiisa maayɗo e IMU toowɗo
- Yiyngo ordinateer: SLAM e maandeeji yiyngo
- GNSS: Jaltugol nder–yaasi ɓuuɓngol
1–2 m laaɓal e nder 99% e geɗe ngam yiytude laawol kisal
Kesɗitingol sahaa goonga e les 100 ms latency joofnirde haa joofnirde
Fusing karallaagal keewngal ngam hoolaare e laaɓal
Arsitektuur system
Sifaa e geɗe mawɗe
Ko mbaydiiji mahdi arsitektuur
1. Layer mooftugol dokke
Ina ɓuuɓna dokke raw ummoraade e denndaangal sensorji kaɓirɗe e sahaa tigi-rigi.
- • Difooje ngenndiije (iOS / Android) .
- • Njuɓɓudi sample-rate
- • Buffering data ngam fusiyoŋ batte
- • Sinkronisaasiyoŋ waktuuji
2. Layer gonɗo e ƴellitde
Filtirta, normalise, e feewnude dokke ngam fusiyoŋ.
- • Fiiltirɗe lowre & toowɗe
- • Kalibraasiyoŋ oto
- • Yiytude e ittude ko yalti
- • Normalisaasiyoŋ & ƴellitaare
3. Laral fusiyoŋ sensor
Hawritii e ƴoogirɗe keewɗe e laabi fusiyoŋ jamaanu.
- • Fiiltirde partikel (waɗde) .
- • Kalman yaajɗo ngam ɓuuɓnude
- • Teskagol sensor kala adaptif
- • Yiytude ngonka nder / yaasi
4. Layer jokkere enɗam
Hiisa nokku kuutortooɗo timmuɗo e kartal.
- • Jokkondire karte
- • Snap to segmenteeji laawol moƴƴi
- • Detektirgol leydi / tolno
- • Feewnitde drift
5. Laral naatgol
Peewnugol laawol e janngingol mbayliigu.
- • A* e teddeendi keɓgol
- • Yonta jaŋde audio
- • Reentaade laawol diinaaji
- • Jeertinaali ɓadtaade POI
6. Layer hakkundeejo
APIs e SDKs ngam jokkondirde e app.
- • REST ngam web e serweeji
- • SDK-ji (iOS e Android)
- • Kesɗitingol WebSocket e nguurndam
- • Webhooks ngam kewuuji darnde
Laabi sensor
Detaayuuji karallaagal e kala layer
Geolookaaji magnetik
Karte Leydi fannu e anomaluuji baɗɗi mahaaɗe. Kala mbaydi ina jogii mbaydi magnetik keeriindi.
Sifaaaji karallaagal:
- Hakindo ƴeewndo : 50-100 Hz
- Ƴeewndo ngoo: 0,01 μT
- Otokalibraasiyoŋ jokkondirɗo
- Njoɓdi naatgol
I-Wi-Fi RTT
Wi-Fi waktu-diwgol ina ummoo e nokkuuji jokkondire. Ina ɗaɓɓi ballal RTT kaɓirɗe e gollorɗe.
Sifaaaji karallaagal:
- Porotokol: IEEE 802,11mc (RTT Wi-Fi)
- Banngeeji ɗii : 2,4 e 5 GHz
- Laabi : < 100 ms
- Ko famɗi fof 3 AP ngam tatiire
Bulutoos ina famɗi semmbe (BLE)
Beacons ngam ɓadtaade, tiitoonde, POIs, e toɓɓe laawol.
Sifaaaji karallaagal:
- Porotokol: BLE 5.0+
- RSSI (doole maande keɓtinaaɗe)
- Batiri : duuɓi 2–5
- Njaajeendi : haa 100 m
Yuɓɓo fotde inertial (IMU)
IMU ina suddii dille, yirlaade, e tooweeki ngam ustude ŋakkeende hakkunde tuugnorgal.
Sifaaaji karallaagal:
- Jaawgol : ±16 g, 400 Hz
- Jiyro : ±2000°/s, ko 400 Hz
- Baro: 0,5 m tooweeki leydi
- Fusiyoŋ: Kalman
Yiyngo ordinateer (CV)
Yiyngo ina yiytoo sifaaji, maandeeji AR, QR, e binndol ngam kesɗitinde ngonka e SLAM.
Sifaaaji karallaagal:
- SLAM: nokkuure & kartoŋaaji e sahaa gooto
- Yiytude sifaaji: ORB, SIFT
- Maandeeji AR: ArUko, QR
- Wakkati doggol: TensorFlow Lite
GNSS / GPS (yaasi)
Joɗnde satelit e nder galle e ngam rokkude nder–yaasi e ƴellitde jolngo.
Sifaaaji karallaagal:
- GNSS keewɗo : GPS, GLONASS, Galileo, BeiDou
- A-GPS ngam TTFF yaawɗo
- Otomatik nder / yaasi
- Fused e laabi goɗɗi
Algoritmeeji
Peewnugol e hakkille
Fiiltirde partikel (Monte Karlo)
Partikulaaji tedduɗi keewɗi ina njokki e pose kuutortooɗo ɓurɗo waawde ummoraade e sensorji keewɗi noddaango.
Filtere Kalman yaajnde
Rekursiyoŋ ina hiisa njuɓɓudi dinamiik jogiindi naatgol noddaango ; huutortee ko e laabi ɓutti e teskagol juutngol.
A* njiylawu laawol
Yiytu laawol ɓurngol juutde e caɗeele, keɓgol, e ɓure kuutortooɗo ko teddeendi.
SLAAM
Mahi kartal e rewindaade kaɓirgal ngal e nder maggal e sifaaji yiyteede.
Janngugol masiŋaaji (resooji nerwooji)
Modeluuji jannginirɗi ngam renndinde nokkuuji, denoise data, e ɓeydude laaɓal e nder sahaa.
Hiisa maayɗo
Yaajnaade pose gila e fiɓnde sakkitiinde huutoraade njaaweeki e hoore nde fiɓnde rajooji njippii.
Doggol gollorde
Nanngugol dokke
Sensorji ina njuɓɓina peeje raw e sahaa goonga
Ko adii peewnugol
Filtirde, kalibraasiyoŋ, e normalisaasiyoŋ
Fusiyoŋ sensor
Filter partikel ina hawra e denndaangal iwdiiji
Fiiltirde Kalman
Smooths e teskaade laawol
Ko nanndi e kartal
Eɓɓoore dow graf kartal routable
Pose yaltugol
Feññinaama e app oo dow API
API FOFTIRDE
Toɓɓe joofnirɗe e jokkondire
URL tuugnorgal
/api/v1/positioningHottina pose kaɓirgol jooni ngol
Parameeteruuji:
device_idvenue_idfloor/api/v1/navigation/routeSifaade laawol hakkunde toɓɓe ɗiɗi
Parameeteruuji:
origindestinationaccessibility_mode/api/v1/venues/{id}/mapHeɓtu kaɓirɗe kartal nokku
Parameeteruuji:
venue_idfloorformat/api/v1/poisLimtu toɓɓe nafooje ɓadiiɗe
Parameeteruuji:
latlngradiuscategory/api/v1/tracking/updateBatch sensor posto ngam fusiyoŋ bannge serwer
Parameeteruuji:
sensor_datatimestampdevice_idƊaɓɓaande yeru
curl -X POST https://api.seeu.app/v1/navigation/route \
-H "Authorization: Bearer YOUR_API_KEY" \
-H "Content-Type: application/json" \
-d '{
"origin": {
"lat": -23.550520,
"lng": -46.633308,
"floor": 1
},
"destination": {
"lat": -23.551234,
"lng": -46.634567,
"floor": 2
},
"accessibility_mode": true
}'Ardorde gollal
No njiyru-ɗaa stack oo
1. Ko hatojini e system
iOS
- • IOS 14.0+
- • Jaawɗo 5,5+
- • Nokku Core
- • Moƴƴere Koornde
- • ARKit (ko cuɓaa)
Androyid
- • I-Android 8.0+ (API 26)
- • Kotlin 1,7+
- • Sarwisaaji Google Play
- • API sensor Android
- • ARCore (ko waawi heen wonde fof)
2. SDK ina jokki
iOS (Kaakooji)
pod 'SeeUMapping', '~> 1.0'
Andiroyid (Ɓuuɓri)
implementation 'app.seeu:mapping:1.0.0'
3. Fuɗɗoraade
// Swift
import SeeUMapping
let mapping = SeeUMapping(apiKey: "YOUR_API_KEY")
mapping.configure(
venueId: "shopping-center-xyz",
enableMagneticPositioning: true,
enableWiFiRTT: true,
enableBLE: true
)
mapping.startPositioning { result in
switch result {
case .success(let position):
print("Lat: \(position.lat), Lng: \(position.lng)")
case .failure(let error):
print("Error: \(error)")
}
}4. Naatgol
mapping.calculateRoute(
from: currentPosition,
to: destination,
accessibilityMode: true
) { route in
mapping.startNavigation(route: route) { instruction in
// turn-by-turn instructions
print(instruction.text)
speakInstruction(instruction.audio)
}
}