Uwiteka sisitemu yo gushushanya mu nzu
Byuzuye bya tekiniki ya sisitemu U Reba sisitemu yo mu nzu: ubwubatsi, sensor, algorithms, APIs, hamwe nuyobora.
Incamake
Intangiriro kuri ikarita ya sisitemu
Ni ubuhe buryo bwo kureba amakarita yo mu nzu?
Sisitemu U yo mu nzu ni urubuga rufunze-umwanya uhuza umwanya uhuza ibice bitandatu bya tekinoroji ya sensor hamwe na fusion igezweho kugirango itange ahantu nyaburanga aho GPS itaboneka.
Bitandukanye nibicuruzwa bya Wi - Fi- cyangwa Bluetooth gusa, dukoresha multimodal igizwe na:
- Magnetic geolocation: Magnetic idasanzwe "igikumwe" kuri buri nyubako
- Wi - Fi RTT: Igihe-cyo guhaguruka kigera ku ntera nyayo
- Bluetooth LE: Itara rya ankore hamwe ninyungu
- Ibyuma bidafite imbaraga: Kubara byapfuye hamwe na IMU yohejuru
- Icyerekezo cya mudasobwa: SLAM n'ibimenyetso bigaragara
- GNSS: Byoroheje mu nzu - inzibacyuho yo hanze
1-2 m mubyukuri kuri 99% byimanza zo gushakisha inzira
Ibihe-byukuri bigezweho hamwe na 100 ms iherezo-ryanyuma
Guhuza tekinoroji nyinshi yo kwizerwa no kwizerwa
Sisitemu yububiko
Imiterere n'ibice by'ingenzi
Inyubako zubaka
1. Ikusanyamakuru
Itemba amakuru yibanze kuva ibyuma byose byifashishwa mugihe gikwiye.
- • Abashoferi kavukire (iOS / Android)
- • Gucunga icyitegererezo
- • Gukwirakwiza amakuru kugirango uhuze
- • Guhuza igihe
2. Gutunganya urwego
Muyunguruzi, isanzwe, kandi itegura amakuru yo guhuza.
- • Hasi-pass & high-pass-Muyunguruzi
- • Guhindura imodoka
- • Kumenya hanze no kuyikuraho
- • Ubusanzwe & gupima
3. Safu ya fusion ya sensor
Ihuza amasoko menshi hamwe nuburyo bugezweho bwo guhuza.
- • Akayunguruzo k'ibice (probabilistic)
- • Kalman yaguye kugirango yorohereze
- • Kumenyekanisha uburemere bwa sensor
- • Kumenyekanisha imbere / hanze
4. Umwanya uhagaze
Kubara iheruka ku ikarita ukoresha umwanya.
- • Guhuza ikarita
- • Gufata inzira zemewe
- Kugaragaza igorofa / urwego
- • Gukosora
5. Kugenda
Gutegura inzira no guhinduranya amabwiriza.
- • A * hamwe nuburemere bworoshye
- • Igisekuru cyerekana amajwi
- • Uelekezaji upya wa nguvu
- • Kumenyesha hafi ya POIs
6. Imigaragarire
APIs na SDKs zo guhuza porogaramu.
- • REST kurubuga na seriveri
- • SDKs kavukire (iOS & Android)
- • WebSocket igezweho
- • Urubuga rwibikorwa byimyanya
Sensor
Ibisobanuro bya tekiniki kuri buri cyiciro
Imiterere ya rukuruzi
Ikarita Umwanya wumurima hamwe nubwubatsi buterwa na anomalies. Buri nyubako ifite urutoki rwihariye rwa magneti.
Ibisobanuro bya tekiniki:
- Igipimo cyicyitegererezo: 50–100 Hz
- Icyemezo: 0.01 µT
- Gukomeza autocalibration
- Indishyi
I-Wi-Fi RTT
Igihe-cyo guhaguruka Wi-Fi igera aho igera. Irasaba ibikoresho nibikorwa remezo inkunga ya RTT.
Ibisobanuro bya tekiniki:
- Porotokole: IEEE 802.11mc (Wi-Fi RTT)
- Amatsinda: 2.4 na 5 GHz
- Ubukererwe: <100 ms
- Nibura 3 APs ya triangulaire
Bluetooth Ingufu nke (BLE)
Itara ryo kuba hafi, icyerekezo, POIs, n'inzira.
Ibisobanuro bya tekiniki:
- Porotokole: BLE 5.0+
- RSSI (yakiriye imbaraga zerekana ibimenyetso)
- Batteri: imyaka 2-5
- Urwego: kugeza kuri m 100
Igice cyo gupima inertial (IMU)
IMU ikubiyemo icyerekezo, kuzunguruka, nuburebure bwo gukemura icyuho kiri hagati yamakuru.
Ibisobanuro bya tekiniki:
- Umuvuduko wihuse: g 16 g, 400 Hz
- Gyro: ± 2000 ° / s, 400 Hz
- Baro: uburebure bwa metero 0,5
- Ukudibanisa: Kalman
Icyerekezo cya mudasobwa (CV)
Biboneka mubiranga ibiranga, ibimenyetso bya AR, QR, ninyandiko yo kuvugurura imyanya na SLAM.
Ibisobanuro bya tekiniki:
- SLAM: icyarimwe icyarimwe & mapping
- Kumenyekanisha ibiranga: ORB, SIFT
- Ibimenyetso bya AR: ArUco, QR
- Igihe cyo gukora: TensorFlow Lite
GNSS / GPS (hanze)
Ikibanza cya satelite hanze no murugo - hanze ihererekanyabubasha no kugenzura drift.
Ibisobanuro bya tekiniki:
- I-Multi-GNSS: GPS, GLONASS, Galileo, BeiDou
- A-GPS ya TTFF yihuse
- Byikora mu nzu / hanze
- Yahujwe nizindi nzego
Ama-algorithms
Gutunganya n'ubwenge
Akayunguruzo (Monte Carlo)
Ibice byinshi biremereye bikurikirana bishoboka cyane ko abakoresha bituruka kumatwi menshi asakuza.
Kwagura Kalman muyunguruzi
Isubiramo igereranya sisitemu ifite imbaraga zinjiza urusaku; ikoreshwa munzira nziza no guhanura igihe gito.
A * inzira
Shakisha inzira ngufi hamwe nimbogamizi, kugerwaho, hamwe nibyifuzo byabakoresha nkibiro.
I-SLAM
Yubaka ikarita kandi ikurikirana igikoresho kirimo ibintu bigaragara.
Kwiga imashini (imiyoboro y'amaraso)
Moderi yatojwe gutondekanya ibidukikije, kwerekana amakuru, no kunoza ukuri mugihe.
Kubara
Kwamamaza kwifoto uhereye kumurongo wanyuma ukoresheje umuvuduko nu mutwe iyo radio ikosora igabanutse.
Gutunganya ibintu
Gufata amakuru
Sensors yerekana ibipimo bibisi mugihe nyacyo
Gutunganya
Gushungura, kalibrasi, hamwe nibisanzwe
Mchanganyiko wa sensor
Akayunguruzo gahuza amasoko yose
Akayunguruzo
Byoroheje kandi bihanura inzira
Guhuza ikarita
Umushinga ku gishushanyo mbonera cy'ikarita
Ibisohoka
Yerekanwe kuri porogaramu hejuru ya API
I-REST API
Iherezo no kwishyira hamwe
URL shingiro
/api/v1/positioningGaruka igikoresho kiriho
Ibipimo:
device_idvenue_idfloor/api/v1/navigation/routeTegura inzira hagati yingingo ebyiri
Ibipimo:
origindestinationaccessibility_mode/api/v1/venues/{id}/mapShakisha ikarita yerekana ikibanza
Ibipimo:
venue_idfloorformat/api/v1/poisAndika ingingo zegeranye
Ibipimo:
latlngradiuscategory/api/v1/tracking/updateKohereza sensor icyiciro cya seriveri kuruhande
Ibipimo:
sensor_datatimestampdevice_idIcyitegererezo
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
}'Imfashanyigisho
Nigute ushobora guhuza stack
1. Ibisabwa muri sisitemu
iOS
- • iOS 14.0+
- • Kwihuta 5.5+
- • I-CoreLocation
- • I-CoreMotion
- • ARKit (bidashoboka)
Android
- • I-Android 8.0+ (API 26)
- • Kotlin 1.7+
- Serivisi za Google Play
- • sensor ya Android API
- • ARCore (bidashoboka)
2. Kwinjiza SDK
iOS (CocoaPods)
pod 'SeeUMapping', '~> 1.0'
I-Android (Gradle)
implementation 'app.seeu:mapping:1.0.0'
3. Gutangiza
// 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. Kugenda
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)
}
}