Mu Uburyo bwo gukora ikarita yo mu nzu
Ivyerekeye ubuhinga bwose ku bijanye n’uburyo bwo gushiramwo ibintu mu nzu See U: ubwubatsi, ibimenyetso, ubuhinga, APIs, n’ubuyobozi bwo gushirwa mu ngiro.
Kugendera vyihuta
Incamake
Intangamarara y'uburyo bwo gukora ikarita
Ni igiki gikoreshwa mu gukora ikarita y’imbere mu nzu See U?
Ubuhinga bwo mu nzu bwa See U ni urubuga rwo gushiramwo ahantu rwugarijwe rufatanya ibice bitandatu vy’ubuhinga bw’ibimenyetso n’ubuhinga buteye imbere kugira ngo rushikirize ahantu nyaho aho GPS itaboneka.
Udakunze ibicuruzwa vya Wi‐Fi canke Bluetooth gusa, dukoresha uburyo bwinshi burimwo:
- Ikibanza c'ubutaka c'umuyagankuba: “Igicapo c'urutoke” c'umuyagankuba kidasanzwe ku nyubakwa yose
- Wi‐Fi RTT: Igihe c'urugendo kugira ngo ubone urugendo rw'ukuri
- Bluetooth LE: Amatara y'inanga n'ibintu vyiza
- Ibimenyetso vy'ubuzima: Guharura abapfuye n'IMU y'agaciro kanini
- Iyerekwa rya mudasobwa: SLAM n'ibimenyetso vy'amaso
- GNSS: Ihinduka ryiza ry'imbere n'inyuma
1–2 m ukuri muri 99% vy'ibibazo kugira ngo umuntu aronke inzira itekanye
Ivugurura ry'igihe nyaco rifise munsi ya 100 ms kuva ku mpera kugeza ku mpera
Gufatanya ubuhinga bwinshi kugira ngo bibe ivyo kwizigirwa n'ukuri
Ubwubatsi bwa sisitemu
Imiterere n'ibice nyamukuru
Ivyumba vy'ubwubatsi
1. Ukwegeranya amakuru
Itanga amakuru atagiramwo ivyiza avuye ku bikoresho vyose mu gihe nyaco.
- • Abashoferi b’imvukira (iOS / Android)
- • Uburongozi bw’igipimo c’akarorero
- • Gucungera amakuru ku bijanye n'ugukorana kw'ibice
- • Guhuza ikidodo c'igihe
2. Gutegura imbere y'igihe
Iyungurura, igasubiza mu buryo busanzwe, kandi itegura amakuru yo gukorana.
- • Ivyungura bica hasi n'ibica hejuru
- • Gupima ubwavyo
- • Gutahura no gukuraho ibintu bitari vyo
- • Gusanura no gupima
3. Igikoresho co gufatanya
Ifatanya amasoko menshi n’uburyo bwo gukoranya ibintu bugezweho.
- • Iyunguruzo ry'ibice (ibishoboka)
- • Kalman yagutse kugira ngo atere neza .
- • Ugupima uburemere bw’ibintu bimenyerewe
- • Gutahura ivy'imbere mu nzu / hanze
4. Gushiramwo uruhande
Iharura ikibanza ca nyuma c'umukoresha ku ikarita.
- • Guhuza ikarata
- • Gufata ku bice vy'inzira bibereye
- • Gutahura hasi / urugero
- • Gukosora ukugenda
5. Urupapuro rwo kugenderamwo
Gutegura inzira n’inyigisho z’uguhinduranya.
- • A* n'uburemere bwo kuronka
- • Gutanga amabwirizwa y’amajwi
- • Gusubiramwo inzira y'inguvu
- • Ivyibutsa vyo hafi y'ibibanza
6. Urupapuro rw'imbere
APIs na SDKs zo gukorana na porogaramu.
- • REST ku rubuga n'abakozi
- • SDKs z'imvukira (iOS na Android)
- • Ivyagezwe vya WebSocket
- • Urubuga rw'ibintu vy'ibara
Ibice vy'ibimenyetso
Ibisobanuro vy'ubuhinga kuri buri rwego
Ikibanza c'ubutaka c'umuyagankuba
Ikarata Umurima w’isi n’ibintu bitari vyo bitewe n’inyubako. Igishushanyo cose gifise urutoke rwihariye rw’umuyagankuba.
Ibisobanuro vy'ubuhinga:
- Igipimo c'akarorero: 50-100 Hz
- Igisubizo: 0.01 μT
- Gukomeza gupima
- Ingurane y'ukwivanga
I-Wi-Fi RTT
Igihe-c’indege Wi-Fi kuva ku bibanza vyo gushikako. Bisaba ubufasha bwa RTT bw’ibikoresho n’ibikorwa remezo.
Ibisobanuro vy'ubuhinga:
- Amasezerano: IEEE 802.11mc (Wi-Fi RTT)
- Imirongo: 2.4 na 5 GHz
- Guteba: < 100 ms
- Nibura APs 3 zo gukora ubutatu
Inguvu nke za bulutoozo (BLE)
Ivyerekana hafi, uburongozi, POIs, n’inzira.
Ibisobanuro vy'ubuhinga:
- Amasezerano: BLE 5.0+
- RSSI (inkomezi z'ikimenyetso cakiriwe)
- Bateri: imyaka 2–5
- Uburebure: gushika kuri m 100
Ingero y'ubuzima (IMU)
IMU ipfuka inyigisho, uguhinduka, n’uburebure kugira ngo umuntu ashobore gukingira ibihengeri hagati y’ibimenyetso.
Ibisobanuro vy'ubuhinga:
- Igipima umuvuduko: ±16 g, 400 Hz
- Igikoresho: ±2000°/isegonda, 400 Hz
- Baro: 0.5 m uburebure bw'igorofa
- Ihuriro: Kalman
Iyerekwa rya mudasobwa (CV)
Ibona neza ibiranga, ibimenyetso vya AR, QR, n’ivyanditswe ku bijanye n’uguhindura ivyicaro na SLAM.
Ibisobanuro vy'ubuhinga:
- SLAM: gushiramwo icarimwe no gukora ikarita
- Gutahura ibiranga: ORB, SIFT
- Ibimenyetso vya AR: ArUco, QR
- Igihe co gukora: TensorFlow Lite
GNSS / GPS (hanze)
Igihugu ca satellite hanze no ku bijanye no gutanga imbere–hanze no kugenzura ukugenda.
Ibisobanuro vy'ubuhinga:
- Ivyiyumviro vyinshi: GPS, IBIMENYETSO, Galilée, BeiDou
- A-GPS ku TTFF yihuta
- Imbere mu nzu / hanze yikora
- Ifatanye n'ibindi bice
Ubuhinga
Gutunganya n'ubwenge
Iyunguruzo ry'ibice (Monte Carlo)
Ibintu vyinshi bifise uburemere bikurikirana ukuntu umuntu ashobora guhagarara bivuye ku bimenyetso vyinshi vy’urusaku.
Akayunguruzo ka Kalman kagutse
Igereranya mu buryo busubiramwo uburyo bukora bufise ivyinjizwa bifise urusaku; ikoreshwa mu nzira zigororotse no mu guhanura ivy’igihe gito.
A* kurondera inzira
Ironka inzira ngufi cane irimwo intambamyi, uburyo bwo kuyironka, n’ivyo umukoresha akunda nk’uburemere.
I-SLAM
Yubaka ikarata maze ikurikirana igikoresho kiri muri yo n’ibintu bigaragara.
Ivyigwa vy'imashini (imirongo y'imitsi)
Ivyitegererezo vyamenyerejwe gushikiriza ibidukikije, gukuraho amakuru, no gutuma habaho ukuri uko igihe kigenda kirarenga.
Ibara ry'abapfuye
Gukwiragiza pose kuva ku fix ya nyuma ukoresheje umuvuduko n’umutwe igihe fixes za radiyo zigwa.
Gutunganya uruja n'uruza
Gufata amakuru
Ivyiyumviro bitanga ingero zidasanzwe mu gihe nyaco
Gutegura imbere y'igihe
Kuyungurura, gupima, no gusanura
Ihuriro ry'ibimenyetso
Akayunguruzo k'ibice gafatanya inkomoko zose
Akayunguruzo ka Kalman
Gusenyera no kuvuga imbere y'igihe inzira
Ikarata ihuye
Umugambi ku ikarita y'inzira
Igisohoka
Yerekanwa kuri porogaramu kuri API
API y'uburuhukiro
Iherezo n'ubufatanye
URL y'ishimikiro
/api/v1/positioningKugarura igikoresho kiriho ubu
Ivyagezwe:
device_idvenue_idfloor/api/v1/navigation/routeGutegura inzira iri hagati y'ibice bibiri
Ivyagezwe:
origindestinationaccessibility_mode/api/v1/venues/{id}/mapGukuraho ikarita y'aho hantu
Ivyagezwe:
venue_idfloorformat/api/v1/poisUrutonde rw'ibintu vyiza biri hafi
Ivyagezwe:
latlngradiuscategory/api/v1/tracking/updateIshirahamwe ry'ibimenyetso vyo ku ruhande rwa server
Ivyagezwe:
sensor_datatimestampdevice_idIgisabwa c'akarorero
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
}'Inyigisho yo gushirwa mu ngiro
Uko woshiramwo ikirundo
1. Ibisabwa kuri sisitemu
iOS
- • iOS 14.0+
- • Ivyihuta 5.5+
- • Ikibanza nyamukuru
- • Inyifato y'Ishingiro
- • ARKit (ntibikenewe)
Android
- • Mudasobwa 8.0+ (API 26)
- • Kotlin 1.7+
- • Ibikorwa vya Google Play
- • API y'igikoresho ca Android
- • ARCore (ntibikenewe)
2. Gushiramwo SDK
iOS (Ibikoresho vya Kakawo)
pod 'SeeUMapping', '~> 1.0'
Android (Umwana)
implementation 'app.seeu:mapping:1.0.0'
3. Gutangura
// 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. Kugendera mu mazi
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)
}
}