Awọn eto inu ile
Itọkasi imọ-ẹrọ ni kikun fun eto aye inu inu Wo U: faaji, awọn sensọ, awọn algoridimu, APIs, ati itọsọna imuse.
Lilọ kiri ni iyara
Akopọ
Ifihan si eto maapu
Kini eto maapu inu inu ile Wo U?
Eto inu ile Wo U jẹ ipilẹ aye ti o ni pipade ti o dapọ awọn ipele imọ-ẹrọ sensọ mẹfapẹlu idapọ to ti ni ilọsiwaju lati fi ipo deede han nibiti GPS ko si.
Ko dabi Wi‑Fi- tabi awọn ọja Bluetooth-nikan, a lo multimodal akopọ ti o pẹlu:
- Agbegbe oofa: “Itẹ ikawọ” oofa alailẹgbẹ fun gbogbo ile
- Wi‑Fi RTT: Akoko-ti-ofurufu orisirisi fun awọn ijinna deede
- Bluetooth LE: Awọn aami fun awọn ìdákọró ati awọn aaye iwulo
- Awọn sensọ inertial: Iṣiro iku pẹlu IMU ti o ga
- Iran kọnputa: SLAM ati awọn asami wiwo
- GNSS: Iyipada inu ile – ita gbangba
1–2 m deede ni 99% ti awọn ọran fun wiwa ọna ailewu
Awọn imudojuiwọn akoko-gidi pẹlu lairi 100 ms ipari-si-opin
Fusing ọpọlọpọ awọn imọ-ẹrọ fun igbẹkẹle ati konge
System faaji
Igbekale ati ki o pataki irinše
Awọn bulọọki ile faaji
1. Layer gbigba data
Ṣe ṣiṣan data aise lati gbogbo awọn sensọ ẹrọ ni akoko gidi.
- • Awọn awakọ abinibi (iOS / Android)
- • Ayẹwo-oṣuwọn isakoso
- • Ifipamọ data fun idapọ ipele
- Amuṣiṣẹpọ igba akoko
2. Preprocessing Layer
Ajọ, ṣe deede, ati mura data fun idapọ.
- • Kekere-kọja & awọn asẹ-giga
- • Isọdiwọn aifọwọyi
- • Awari ati yiyọ kuro
- • Deede & igbelosoke
3. Sensọ seeli Layer
Darapọ awọn orisun pupọ pẹlu awọn ọna idapọ ode oni.
- • Ajọ patikulu (iṣeeṣe)
- • Kalman ti o gbooro fun didan
- • Aṣamubadọgba fun-sensọ àdánù
- • Wiwa ọrọ inu inu / ita gbangba
4. Layer ipo
Ṣe iṣiro ipo olumulo lori maapu ipari.
- • Ibamu maapu
- Kan si awọn apakan ipa ọna
- • Iwari ilẹ / ipele
- • Atunse fiseete
5. Lilọ kiri Layer
Ilana ọna ati itọsọna-nipasẹ-titan.
- • A * pẹlu Ayewo weighting
- • Audio ẹkọ iran
- • Yiyi pada afisona
- • Awọn itaniji isunmọtosi si POI
6. Ni wiwo Layer
Awọn API ati awọn SDKs fun imudarapọ app.
- REST fun ayelujara ati olupin
- • Awọn SDK abinibi (iOS & Android)
- • WebSocket awọn imudojuiwọn ifiwe
- • Awọn oju opo wẹẹbu fun awọn iṣẹlẹ ipo
Sensọ fẹlẹfẹlẹ
Imọ alaye fun Layer
geolocation oofa
Maps Earth aaye ati ile-induced anomalies. Eto kọọkan ni itẹka oofa alailẹgbẹ kan.
Awọn alaye imọ-ẹrọ:
- Oṣuwọn ayẹwo: 50-100 Hz
- Ipinnu: 0.01 µT
- Ilọsiwaju autocalibration
- Biinu kikọlu
I-Wi-Fi RTT
Wi-Fi akoko-ofurufu ti o wa lati wọle si awọn aaye. Nbeere ẹrọ ati atilẹyin RTT amayederun.
Awọn alaye imọ-ẹrọ:
- Ilana: IEEE 802.11mc (Wi-Fi RTT)
- Awọn ẹgbẹ: 2.4 ati 5 GHz
- Lairi: <100 ms
- O kere ju 3 APs fun triangulation
Agbara Kekere Bluetooth (BLE)
Awọn beakoni fun isunmọtosi, itọsọna, POI, ati awọn aaye ọna.
Awọn alaye imọ-ẹrọ:
- Ilana: BLE 5.0+
- RSSI (agbara ifihan agbara)
- Batiri: 2-5 ọdun
- Ibiti o: to 100 m
Ẹyọ wiwọn inertial (IMU)
IMU ni wiwa išipopada, yiyi, ati giga fun sisopọ awọn alafo laarin awọn itọkasi.
Awọn alaye imọ-ẹrọ:
- Accelerometer: ± 16 g, 400 Hz
- Gyro: ± 2000°/s, 400 Hz
- Baro: 0,5 m pakà iga
- Iṣọkan: Kalman
Iranran Kọmputa (CV)
Oju n wa awọn ẹya, awọn ami ami AR, QR, ati ọrọ fun awọn imudojuiwọn ipo ati SLAM.
Awọn alaye imọ-ẹrọ:
- SLAM: igbakana isọdibilẹ & maapu
- Wiwa ẹya: ORB, SIFT
- AR asami: ArUco, QR
- Akoko ṣiṣe: TensorFlow Lite
GNSS / GPS (ita ita)
Ipo satẹlaiti ni ita ati fun inu ile – itusilẹ ita gbangba ati iṣakoso fiseete.
Awọn alaye imọ-ẹrọ:
- Olona-GNSS: GPS, GLONASS, Galileo, BeiDou
- A-GPS fun awọn ọna TTFF
- Laifọwọyi inu / ita gbangba
- Ti dapọ pẹlu awọn fẹlẹfẹlẹ miiran
Awọn alugoridimu
Ilana ati oye
Ajọ patiku (Monte Carlo)
Ọpọlọpọ awọn patikulu ti o ni iwuwo ṣe atẹle ipo olumulo ti o ṣeeṣe julọ lati awọn sensọ ariwo pupọ.
Àlẹmọ Kalman ti o gbooro sii
Recursively ti siro a ìmúdàgba eto pẹlu alariwo awọn igbewọle; ti a lo fun awọn ọna didan ati asọtẹlẹ igba kukuru.
A * ipa ọna
Wa ọna ti o kuru ju pẹlu awọn idiwọ, iraye si, ati awọn ayanfẹ olumulo bi awọn iwuwo.
I-SLAM
Kọ maapu kan ati ki o tọpa ẹrọ ti o wa ninu rẹ pẹlu awọn ẹya wiwo.
Ẹkọ ẹrọ (awọn nẹtiwọọki nkankikan)
Awọn awoṣe ikẹkọ lati ṣe lẹtọ awọn agbegbe, kọ data, ati ilọsiwaju deede lori akoko.
Iṣiro ti o ku
Ṣe ikede iduro lati atunṣe to kẹhin nipa lilo iyara ati akọle nigbati awọn atunṣe redio ba lọ silẹ.
Sisan processing
Gbigba data
Awọn sensọ ṣiṣan awọn iwọn aise ni akoko gidi
Ṣiṣeto tẹlẹ
Sisẹ, isọdiwọn, ati deede
Iṣọkan sensọ
Ajọ patiku dapọ gbogbo awọn orisun
Kalman àlẹmọ
Smooths ati asọtẹlẹ itọpa
Ibamu maapu
Ise agbese pẹlẹpẹlẹ awọn routable map awonya
Iduro jade
Ti farahan si app lori API
API REST
Endpoints ati Integration
URL mimọ
/api/v1/positioningPada iduro ẹrọ lọwọlọwọ pada
Awọn paramita:
device_idvenue_idfloor/api/v1/navigation/routeGbero ọna kan laarin awọn aaye meji
Awọn paramita:
origindestinationaccessibility_mode/api/v1/venues/{id}/mapMu awọn alẹmọ maapu ibi isere
Awọn paramita:
venue_idfloorformat/api/v1/poisṢe atokọ awọn aaye iwulo nitosi
Awọn paramita:
latlngradiuscategory/api/v1/tracking/updateFiranṣẹ ipele sensọ fun idapọ-ẹgbẹ olupin
Awọn paramita:
sensor_datatimestampdevice_idApeere ìbéèrè
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
}'Ilana imuse
Bawo ni lati ṣepọ akopọ
1. System awọn ibeere
iOS
- • iOS 14.0+
- • Mwepesi 5.5+
- • I-CoreLocation
- • I-CoreMotion
- • ARKit (aṣayan)
Android
- • I-Android 8.0+ (API 26)
- • Kotlin 1.7+
- • Awọn iṣẹ Google Play
- • Android sensọ API
- • ARCore (aṣayan)
2. SDK fi sori ẹrọ
iOS (CocoaPods)
pod 'SeeUMapping', '~> 1.0'
I-Android (Gradle)
implementation 'app.seeu:mapping:1.0.0'
3. Ibẹrẹ
// 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. Lilọ kiri
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)
}
}