Aba... enkola y’okukola maapu mu nnyumba
Ekiwandiiko eky’ekikugu ekijjuvu eky’enkola y’okuteeka ekifo mu nnyumba eya See U: enzimba, sensa, algorithms, APIs, n’ekitabo ekikwata ku kussa mu nkola.
Okutwalira awamu
Enyanjula mu nkola y’okukola maapu
Enkola ya See U ey’okukola maapu y’omunda kye ki?
Enkola ya See U ey’omunda ye nkola ey’okuteeka ekifo mu kifo ekiggaddwa nga egatta layeri za tekinologiya wa sensa mukaaga n’okuyungibwa okw’omulembe okutuusa ekifo ekituufu GPS w’etaliiwo.
Okwawukana ku bintu bya Wi‐Fi oba Bluetooth byokka, tukozesa multimodal stack omuli:
- Enfo ya magineeti: “Engalo” ya magineeti ey’enjawulo eri buli kizimbe
- Wi‐Fi RTT: Ebiseera by'ennyonyi ebigere okusobola okufuna amabanga amatuufu
- Bluetooth LE: Ebikondo by’ennanga n’ebifo eby’enjawulo
- Sensulo ezitali za maanyi: Okubala okufu nga olina IMU ey’omutindo ogwa waggulu
- Okulaba kwa kompyuta: SLAM n’obubonero obulabika
- GNSS: Enkyukakyuka ennungi munda–ebweru
1–2 m obutuufu mu 99% of cases for safe wayfinding
Ebipya mu kiseera ekituufu nga biri wansi wa 100 ms end-to-end latency
Okugatta tekinologiya mungi okusobola okwesigika n’obutuufu
Enzimba y’enkola
Enzimba n’ebitundu ebikulu
Ebizimbe ebizimba
1. Layer y’okukung’aanya amawulire
Efulumya data embisi okuva mu sensa zonna ez’ebyuma mu kiseera ekituufu.
- • Ddereeva enzaaliranwa (iOS / Android) .
- • Enzirukanya y’omuwendo gw’ekyokulabirako
- • Okutereka data okusobola okugatta batch
- • Okukwataganya sitampu y’ebiseera
2. Layer y’okusooka okukola
Asengejja, akola normalise, era ateekateeka data okusobola okuyungibwa.
- • Ebisengejja ebiyita wansi & ebiyita waggulu
- • Okupima mu ngeri ey’okwekolako
- • Okuzuula n’okuggyawo ebintu ebitali bimu
- • Okukola normalization & okugerageranya
3. Layer y’okuyungibwa kwa sensa
Egatta ensonda eziwera n’enkola ez’omulembe ez’okuyunga.
- • Omusengejja obutundutundu (probabilistic) .
- • Kalman eyongezeddwayo okusobola okugonza
- • Okupima obuzito obutuukagana ne buli sensa
- • Okuzuula embeera y’omunda / ey’ebweru
4. Okuteeka layeri mu kifo
Ebala ekifo ky'omukozesa ekisembayo ku maapu.
- • Okukwatagana kwa maapu
- • Snap ku bitundu by’amakubo ebituufu
- • Okuzuula wansi / ku ddaala
- • Okutereeza okuwuguka (drift correction).
5. Layer y’okutambulirako
Enteekateeka y’amakubo n’okusomesebwa mu kukyuka.
- • A* nga erina obuzito bw’okutuuka ku bantu
- • Okukola ebiragiro by’amaloboozi
- • Okuddamu okuyisa amakubo mu ngeri ey’amaanyi
- • Okulabula ku kumpi ne POIs
6. Layer y’enkolagana
APIs ne SDKs ez'okugatta app.
- • REST ku mukutu ne seeva
- • SDKs enzaaliranwa (iOS & Android) .
- • WebSocket ebipya ebikwata ku bulamu
- • Webhooks ez’emikolo gy’ekifo
Layer za sensa
Ebikwata ku by’ekikugu buli layeri
Okuzuula ekifo kya magineeti
Maapu Ennimiro y’ensi n’obuzibu obuleetebwa ebizimbe. Buli kizimbe kirina engalo ya magineeti ey’enjawulo.
Ebikwata ku by’ekikugu:
- Omuwendo gw’ekyokulabirako: 50–100 Hz
- Okusalawo: 0.01 μT
- Okupima (autocalibration) okutambula obutasalako
- Okuliyirira okuyingirira
I-Wi-Fi RTT
Wi-Fi mu budde bw’ennyonyi okuva ku bifo ebiyingira. Yeetaaga obuyambi bwa RTT obw'ebyuma n'ebikozesebwa.
Ebikwata ku by’ekikugu:
- Enkola: IEEE 802.11mc (Wi-Fi RTT) .
- Bbandi: 2.4 ne 5 GHz
- Okusirika: < 100 ms
- Waakiri AP 3 ez’okukola enjuyi essatu
Bluetooth Amaanyi Amatono (BLE) .
Ebikondo by’okumpi, obulagirizi, POIs, n’ebifo by’ekkubo.
Ebikwata ku by’ekikugu:
- Enkola: BLE 5.0+
- RSSI (amaanyi ga siginiini agafunibwa) .
- Battery: Emyaka 2–5
- Obuwanvu: okutuuka ku mmita 100
Ekitundu ekipima obutafaali (IMU) .
IMU ekwata ku ntambula, okuzimbulukuka, n’obugulumivu okusobola okuziba ebituli wakati w’ebijuliziddwa.
Ebikwata ku by’ekikugu:
- Ekipima sipiidi: ±16 g, 400 Hz
- I-Gyro: ±2000°/s, 400 Hz
- Baro: Obugulumivu bwa wansi mmita 0.5
- Okugatta: Kalman
Okulaba kwa kompyuta (CV) .
Ezuula mu kulaba ebikozesebwa, obubonero bwa AR, QR, n'ebiwandiiko okulongoosa ekifo ne SLAM.
Ebikwata ku by’ekikugu:
- SLAM: okuteekebwa mu kitundu & okukola maapu mu kiseera kye kimu
- Okuzuula ebifaananyi: ORB, SIFT
- Ebiwandiiko ebiraga AR: ArUco, QR
- Ebiseera by’okudduka: TensorFlow Lite
GNSS / GPS (ebweru) .
Enfo ya setilayiti ebweru n’okukwasa munda–ebweru n’okufuga okuwuguka.
Ebikwata ku by’ekikugu:
- GNSS eziwera: GPS, GLONASS, Galileo, BeiDou
- A-GPS ku TTFF ey'amangu
- Automatic munda / ebweru
- Fused ne layers endala
Algorithms (Ebikozesebwa) (Algorithms).
Okukola n’amagezi
Omusengejja gw’obutundutundu (Monte Carlo) .
Obutoffaali bungi obuzitowa bulondoola embeera y’omukozesa esinga okulabika okuva mu sensa eziwera ezikola amaloboozi.
Omusengejja gwa Kalman ogwongezeddwayo
Okubalirira mu ngeri ey’okuddamu (recursive system) ekyukakyuka (dynamic system) nga erina ebiyingizibwa ebikola amaloboozi; ekozesebwa mu makubo amaseeneekerevu n’okuteebereza okw’ekiseera ekitono.
A* okunoonya ekkubo
Funa ekkubo erisinga obumpi nga lirimu ebiziyiza, okutuuka, n'ebyo omukozesa by'ayagala ng'obuzito.
I-SLAM
Azimba maapu n’alondoola ekyuma ekirimu n’ebintu ebirabika.
Okuyiga kw’ebyuma (emikutu gy’obusimu) .
Ebikozesebwa ebitendeke okugabanya embeera, okuggya amaloboozi mu data, n’okulongoosa obutuufu mu biseera.
Okubala abafu
Propagate pose okuva ku last fix nga okozesa velocity ne heading nga radio fixes zigwa.
Okutambula kw’okulongoosa
Okukwata data
Sensulo zikulukuta ebipimo ebibisi mu kiseera ekituufu
Okusooka okulongoosa
Okusengejja, okupima, n’okuzza mu mbeera eya bulijjo
Okuyungibwa kwa sensa
Particle filter egatta ensonda zonna
Kalman omusengejja
Agonza era n’alagula enkola y’okutambula
Okukwatagana kwa maapu
Pulojekiti ku giraafu ya maapu egenda
Okufuluma mu pose
Okwolesebwa ku app ku API
I-REST API
Endpoints n’okugatta
URL ya base
/api/v1/positioningEzzaayo pose y'ekyuma eriwo kati
Ebipimo:
device_idvenue_idfloor/api/v1/navigation/routeTegeka ekkubo wakati w’ensonga bbiri
Ebipimo:
origindestinationaccessibility_mode/api/v1/venues/{id}/mapLeeta tile za maapu y’ekifo
Ebipimo:
venue_idfloorformat/api/v1/poisWandiika ebifo eby’enjawulo ebiriraanyewo
Ebipimo:
latlngradiuscategory/api/v1/tracking/updatePost sensor batch for okuyungibwa ku ludda lwa seva
Ebipimo:
sensor_datatimestampdevice_idOkusaba okw’ekyokulabirako
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
}'Ekitabo ekilungamya okussa mu nkola
Engeri y'okugatta omutambi
1. Ebyetaago by’enkola
iOS
- • Enkola ya iOS 14.0+
- • Ebidduka eby’amangu 5.5+
- • Ekifo Ekikulu
- • Enkola ya CoreMotion
- • ARKit (eky’okwesalirawo) .
Android
- • Enkola ya Android 8.0+ (API 26)
- • Kotlin 1.7+
- • Empeereza ya Google Play
- • API ya sensa ya Android
- • ARCore (eky’okwesalirawo) .
2. SDK okuteeka
iOS (Ebiwujjo bya CocoaPods) .
pod 'SeeUMapping', '~> 1.0'
Android (Gradle) .
implementation 'app.seeu:mapping:1.0.0'
3. Okutandikawo
// 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. Okutambulira mu nnyanja
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)
}
}