Amadokhumenti obuchwepheshe

I uhlelo lwamamephu lwangaphakathi

Ireferensi egcwele yobuchwepheshe yesistimu yokuma yangaphakathi ye-See U: izakhiwo, izinzwa, ama-algorithms, ama-API, kanye nomhlahlandlela wokuqalisa.

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Ukuzulazula okusheshayo

Uhlolojikelele Izakhiwo Izinzwa Ama-algorithms I-API Ukuqaliswa

Uhlolojikelele

Isingeniso kusistimu yokwenza imephu

Ithini isistimu yemephu yangaphakathi ye-See U?

Isistimu ye-See U yangaphakathi iyinkundla yokumisa isikhala esivaliwe ehlanganisa izendlalelo zobuchwepheshe bezinzwa eziyisithupha ngokuhlanganisa okuthuthukisiwe ukuze ilethe indawo enembile lapho i-GPS ingatholakali khona.

Ngokungafani nemikhiqizo ye-Wi‑Fi- noma ye-Bluetooth kuphela, sisebenzisa isitaki se-multimodal esihlanganisa:

Indawo kaMagnetic: “Izigxivizo zeminwe” kazibuthe eziyingqayizivele kuwo wonke amabhilidi
Wi‑Fi RTT: Isikhathi sendiza esisukela kumabanga anembile
Bluetooth LE: Amabhikhoni wezikhonkwane namaphoyinti okuthakaselayo
Izinzwa ze-inertial: Ukubala okufile nge-IMU ephezulu
Umbono wekhompyutha: I-SLAM nezimpawu ezibonakalayo
GNSS: Inguquko ebushelelezi yangaphakathi–yangaphandle

99%

Ukunemba kwesikhundla

Ukunemba okungu-1–2 m ku-99% wamacala okuthola indlela ephephile

<100ms

Ukubambezeleka

Izibuyekezo zesikhathi sangempela ezingaphansi kuka-100 ms ukubambezeleka kokuphela ukuya ekupheleni

Izendlalelo zenzwa

Ukuhlanganisa ubuchwepheshe obuningi bokuthembeka nokunemba

Isakhiwo sesistimu

Isakhiwo kanye nezingxenye ezinkulu

Amabhlogo wokwakha wezakhiwo

1. Isendlalelo sokuqoqwa kwedatha

Isakaza idatha eluhlaza kusuka kuzo zonke izinzwa zedivayisi ngesikhathi sangempela.

• Abashayeli bomdabu (i-iOS / Android)
• Ukuphathwa kwezinga lesampula
• Ukugcina kudatha kumthamo wokuhlanganisa inqwaba
• Ukuvumelanisa isitembu sesikhathi

2. Isendlalelo sokucubungula kusengaphambili

Iyahlunga, ijwayeze, futhi ilungise idatha ukuze ihlanganiswe.

• Izihlungi zokudlula okuphansi neziphezulu
• Ukulinganisa okuzenzakalelayo
• Ukutholwa nokususwa kwangaphandle
• Ukujwayela nokukala

3. Isendlalelo sokuhlanganisa izinzwa

Ihlanganisa imithombo eminingi nezindlela zesimanje zokuhlanganisa.

• Isihlungi se-particle (okungenzeka)
• I-Kalman Enwetshiwe yokushelela
• Isisindo senzwa ngayinye eguquguqukayo
• Ukutholwa kwengqikithi yasendlini/yangaphandle

4. Isendlalelo sokuma

Ibala indawo yokugcina yomsebenzisi ekumephu.

• Ukufanisa imephu
• Qhubekela ezigabeni ezivumelekile zendlela
• Ukutholwa kwephansi / izinga
• Ukulungiswa kwe-Drift

5. Isendlalelo sokuzulazula

Ukuhlelwa kwendlela kanye nemiyalelo yokujika nejika.

• A* enesisindo sokufinyeleleka
• Ukukhiqizwa kweziyalezo ezilalelwayo
• Ukuqondisa kabusha okunamandla
• Izaziso eziseduze kuma-POI

6. Isendlalelo se-interface

Ama-API nama-SDK okuhlanganiswa kohlelo lokusebenza.

• REST yewebhu namaseva
• Ama-SDK omdabu (i-iOS ne-Android)
• Izibuyekezo ezibukhoma zeWebSocket
• Ama-Webhooks emicimbi yesikhundla

Izendlalelo zenzwa

Imininingwane yobuchwepheshe isendlalelo ngasinye

Isendlalelo 1

I-geolocation yamagnetic

I-magnetometer ye-3-eksisiUkunemba: 1-2 m

Inkundla ye-Maps Earth kanye nokudidayo okubangelwa ukwakha. Isakhiwo ngasinye sinezigxivizo zeminwe kazibuthe eziyingqayizivele.

Ukucaciswa kobuchwepheshe:

Isilinganiso sesampula: 50–100 Hz
Ukulungiswa: 0.01 µT
Ukulinganisa okuzenzakalelayo okuqhubekayo
Isinxephezelo sokuphazanyiswa

Ungqimba 2

I-Wi-Fi RTT

IEEE 802.11mcUkunemba: 1-3 m

I-Wi-Fi yesikhathi sendiza kusukela kumaphoyinti okufinyelela. Idinga idivayisi kanye nengqalasizinda ye-RTT ukwesekwa.

Ukucaciswa kobuchwepheshe:

Iphrothokholi: IEEE 802.11mc (Wi-Fi RTT)
Amabhendi: 2.4 no-5 GHz
Ukubambezeleka: < 100 ms
Okungenani ama-AP angu-3 kanxantathu

Ungqimba 3

I-Bluetooth Low Energy (BLE)

BLE 5.0+ amabhikhoniUkunemba: 2-5 m

Amabhikhoni okusondela, isiqondiso, ama-POI, namaphoyinti endlela.

Ukucaciswa kobuchwepheshe:

Iphrothokholi: BLE 5.0+
I-RSSI (ithole amandla esignali)
Ibhethri: 2-5 iminyaka
Ububanzi: kufika ku-100 m

Ungqimba 4

Iyunithi yokulinganisa i-inertial (IMU)

I-Accelerometer + gyro + barometerUkunemba: Ukubala okufile

I-IMU ihlanganisa ukunyakaza, ukuzungezisa, nokuphakama ukuze kuvalwe izikhala phakathi kwamareferensi.

Ukucaciswa kobuchwepheshe:

I-Accelerometer: ±16 g, 400 Hz
I-Gyro: ±2000°/s, 400 Hz
I-Baro: 0.5 m ukuphakama phansi
Ukudibanisa: Kalman

Ungqimba 5

Umbono wekhompyutha (CV)

Ikhamera + AI/MLUkunemba: Ukulungisa okubonakalayo

Ithola ngokubonakalayo izici, omaka be-AR, i-QR, nombhalo wezibuyekezo zendawo kanye ne-SLAM.

Ukucaciswa kobuchwepheshe:

I-SLAM: ukwenziwa kwasendaweni kanyekanye nokubhala imephu
Ukutholwa kwesici: ORB, SIFT
Omaka be-AR: ArUco, QR
Isikhathi sokusebenza: TensorFlow Lite

Ungqimba 6

I-GNSS / GPS (ngaphandle)

I-GPS + GLONASS + GalileoUkunemba: 5-10 m

Indawo yesathelayithi ngaphandle kanye nokunikezwa kwangaphakathi–ngaphandle nokulawula ukukhukhuleka.

Ukucaciswa kobuchwepheshe:

I-Multi-GNSS: GPS, GLONASS, Galileo, BeiDou
I-A-GPS ye-TTFF esheshayo
Okuzenzakalelayo kwangaphakathi / ngaphandle
Kuhlanganiswe nezinye izendlalelo

Ama-algorithms

Ukucubungula kanye nobuhlakani

Ukuhlanganiswa kwe-Multisensor

Isihlungi sezinhlayiya (i-Monte Carlo)

Izinhlayiya eziningi ezinesisindo zilandelela ukuma komsebenzisi okungenzeka kakhulu kuzinzwa eziningi ezinomsindo.

I-Trajectory smoothing

Isihlungi se-Kalman esinwetshiwe

Ngokuphindaphindiwe ilinganisela isistimu eguquguqukayo enokufakwayo okunomsindo; esetshenziselwa izindlela ezibushelelezi kanye nokubikezela isikhathi esifushane.

Umzila

A* ukuthola indlela

Ithola indlela emfushane kakhulu enezithiyo, ukufinyeleleka, kanye nezintandokazi zomsebenzisi njengezisindo.

Imephu ebonakalayo

I-SLAM

Yakha imephu futhi ilandelela idivayisi kuyo ngezici ezibonakalayo.

Ukufunda okuguquguqukayo

Ukufunda ngomshini (amanethiwekhi we-neural)

Amamodeli aqeqeshiwe ukuze ahlukanise izindawo, akhiphe idatha, futhi athuthukise ukunemba ngokuhamba kwesikhathi.

Ukuzulazula okungenasiginali

Ukubala okufile

Sabalalisa ukuma kokugcina usebenzisa isivinini nesihloko lapho ukulungiswa komsakazo kwehla.

Icubungula ukugeleza

Ukuthwebula idatha

Izinzwa zisakaza izilinganiso ezingavuthiwe ngesikhathi sangempela

Iyacubungula

Ukuhlunga, ukulinganisa, nokujwayela

Ukuhlanganiswa kwezinzwa

Isihlungi se-particle sihlanganisa yonke imithombo

Isihlungi se-Kalman

Bushelela futhi ibikezela umkhondo

Ukufanisa imephu

Faka iphrojekthi kugrafu yemephu eshintshekayo

Ukuma komphumela

Kuvezwe kuhlelo lokusebenza nge-API

I-REST API

Amaphoyinti okugcina nokuhlanganiswa

I-URL eyisisekelo

https://api.seeu.app/v1

GET

/api/v1/positioning

Ibuyisela ukuma kwedivayisi yamanje

Amapharamitha:

device_idvenue_idfloor

POST

/api/v1/navigation/route

Hlela indlela phakathi kwamaphoyinti amabili

Amapharamitha:

origindestinationaccessibility_mode

GET

/api/v1/venues/{id}/map

Landa amathayili emephu yendawo

Amapharamitha:

venue_idfloorformat

GET

/api/v1/pois

Faka ohlwini izindawo eziseduze ozithakaselayo

Amapharamitha:

latlngradiuscategory

POST

/api/v1/tracking/update

Thumela inqwaba yezinzwa zokuhlanganisa uhlangothi lweseva

Amapharamitha:

sensor_datatimestampdevice_id

Isicelo sesampula

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
  }'

Umhlahlandlela wokuqalisa

Indlela yokuhlanganisa isitaki

1. Izidingo zesistimu

iOS

• iOS 14.0+
• I-Swift 5.5+
• I-CoreLocation
• I-CoreMotion
• I-ARKit (uyazikhethela)

Android

• I-Android 8.0+ (API 26)
• Kotlin 1.7+
• Amasevisi e-Google Play
• I-API yenzwa ye-Android
• I-ARCore (uyazikhethela)

2. Ukufakwa kwe-SDK

iOS (CocoaPods)

pod 'SeeUMapping', '~> 1.0'

I-Android (Gradle)

implementation 'app.seeu:mapping:1.0.0'

3. Ukuqaliswa

// 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. Ukuzulazula

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)
    }
}

Udinga ulwazi olwengeziwe?

Ithimba lethu lonjiniyela lingasiza ngokuhlanganisa, ukukhishwa, nosekelo oluzinikele.

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 }'

// 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)") } }

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) } }

I uhlelo lwamamephu lwangaphakathi

Ukuzulazula okusheshayo

Uhlolojikelele

Ithini isistimu yemephu yangaphakathi ye-See U?

Isakhiwo sesistimu

Amabhlogo wokwakha wezakhiwo

1. Isendlalelo sokuqoqwa kwedatha

2. Isendlalelo sokucubungula kusengaphambili

3. Isendlalelo sokuhlanganisa izinzwa

4. Isendlalelo sokuma

5. Isendlalelo sokuzulazula

6. Isendlalelo se-interface

Izendlalelo zenzwa

I-geolocation yamagnetic

Ukucaciswa kobuchwepheshe:

I-Wi-Fi RTT

Ukucaciswa kobuchwepheshe:

I-Bluetooth Low Energy (BLE)

Ukucaciswa kobuchwepheshe:

Iyunithi yokulinganisa i-inertial (IMU)

Ukucaciswa kobuchwepheshe:

Umbono wekhompyutha (CV)

Ukucaciswa kobuchwepheshe:

I-GNSS / GPS (ngaphandle)

Ukucaciswa kobuchwepheshe:

Ama-algorithms

Isihlungi sezinhlayiya (i-Monte Carlo)

Isihlungi se-Kalman esinwetshiwe

A* ukuthola indlela

I-SLAM

Ukufunda ngomshini (amanethiwekhi we-neural)

Ukubala okufile

Icubungula ukugeleza

I-REST API

I-URL eyisisekelo

Isicelo sesampula

Umhlahlandlela wokuqalisa

1. Izidingo zesistimu

iOS

Android

2. Ukufakwa kwe-SDK

iOS (CocoaPods)

I-Android (Gradle)

3. Ukuqaliswa

4. Ukuzulazula

Udinga ulwazi olwengeziwe?

Loading...

I uhlelo lwamamephu lwangaphakathi

Ukuzulazula okusheshayo

Uhlolojikelele

Ithini isistimu yemephu yangaphakathi ye-See U?

Isakhiwo sesistimu

Amabhlogo wokwakha wezakhiwo

1. Isendlalelo sokuqoqwa kwedatha

2. Isendlalelo sokucubungula kusengaphambili

3. Isendlalelo sokuhlanganisa izinzwa

4. Isendlalelo sokuma

5. Isendlalelo sokuzulazula

6. Isendlalelo se-interface

Izendlalelo zenzwa

I-geolocation yamagnetic

Ukucaciswa kobuchwepheshe:

I-Wi-Fi RTT

Ukucaciswa kobuchwepheshe:

I-Bluetooth Low Energy (BLE)

Ukucaciswa kobuchwepheshe:

Iyunithi yokulinganisa i-inertial (IMU)

Ukucaciswa kobuchwepheshe:

Umbono wekhompyutha (CV)

Ukucaciswa kobuchwepheshe:

I-GNSS / GPS (ngaphandle)

Ukucaciswa kobuchwepheshe:

Ama-algorithms

Isihlungi sezinhlayiya (i-Monte Carlo)

Isihlungi se-Kalman esinwetshiwe

A* ukuthola indlela

I-SLAM

Ukufunda ngomshini (amanethiwekhi we-neural)

Ukubala okufile

Icubungula ukugeleza