Zomangamanga za Downlink Reverse-TDoA: ma beacons odziyimira pawokha amatumiza ma sign; wolandira mkati mwa chisoti amamvetsera.
Kuyenda kwa satellite kumayima pa khoma la nyumba. Bluetooth ndi Wi-Fi zimangosonyeza chipinda chomwe wogwira ntchito alimo — zosakwanira kwenikweni kwa madera owopsa a mafakitale. Munthu ataima motetezeka pafupi ndi chotchinga ndi munthu akulowa m'malo oletsedwa ndi zochitika zosiyana kwenikweni. Kupitirira mulingo wina wa kulondola, ma coordinates amasintha kuchoka ku zolemba zosavuta za mapu kukhala zochitika zotsimikiziridwa: kulowa m'malo, nthawi yokhala, ndi njira zenizeni zoyenda.
UWB yapereka kutsatira kolondola kwambiri kwa zaka zopitilira khumi, koma kugwiritsidwa ntchito kwakukulu m'mafakitale kwaima chifukwa cha zochitika zamalonda osati zolephera zaukadaulo. M'makina wamba a uplink-TDoA, ma anchor okhazikika amayenera kulandira mapaketi kuchokera ku tag iliyonse, kusunga kugwirizanitsa nthawi ya sub-nanosecond kudzera mu waya, ndi kubweza miyeso kudzera mu Ethernet. Ziwerengero za mafakitale zikuwonetsa kuti pafupifupi 85% ya ndalama zonse zoyikira zimachokera ku zida za zingwe zokha: ma conduit, ma switch a PoE, zikwezo za mafakitale, ndi ntchito zamagetsi zovomerezeka.
Kuchuluka ndi chopinga chachiwiri chachikulu. Ziwerengero za ma tag zotsatsidwa nthawi zambiri ndi masamu ongopeka: ndi kufikira kwapang'onopang'ono kwa ALOHA pa 18% yokha, pafupifupi gawo limodzi mwa atatu la mauthenga amagundana. Ma profile apamwamba kwambiri a data omwe amatsatsidwa kuti ali ndi kuchuluka ndi omwe amalephera kwambiri ku chitsulo chomanga ndi mafunde obwereza. Pachitetezo cha mafakitale, paketi yotayika ndi wogwira ntchito wosayang'aniridwa.
Lipoti laukadaulo TR-XENOM-2025-01, kuyesa kosasunthika pa nsanja ya DW1000 ndi ma beacon anayi.
Ma beacons okhazikika amatumiza mapaketi a UWB pa 300 ms iliyonse; wolandira mu chisoti amangomvetsera ndikutumiza masitampu ku seva kudzera pa njira wamba ya telemetry. Ma beacons salandira kalikonse ndipo sagawana nthawi yolumikizana wina ndi mnzake - osati pa chingwe, osati pa wailesi, osati pa GPS. Ubwino wina uliwonse wa dongosololi umatsatira mwachindunji kuchokera kumangidwe awa.
Palibe mizere yanthawi, palibe masiwichi a PoE, palibe njira zopita kumalo okwera. Mu kasinthidwe ka DW1000 pa nthawi ya 300 ms, nyali imatha pafupifupi masiku asanu ndi limodzi pa batire ya 10,000 mAh. Malo okwera amasankhidwa kuchokera ku geometry yawayilesi ya nyumbayi, osati komwe kuli zitsulo zamagetsi.
Ma Beacons, zolandila za UWB zam'manja zam'manja ndi njira za RF sizifunikira kulumikizidwa kwa benchi komanso matebulo owongolera musanayike. Kutumiza sikufuna zida zosinthira zotsika mtengo ndipo kumabwera pakukonza mawayilesi oyambira: kukwera pamalo omwe adapangidwa, kujambula zolumikizira zawo ndikuyesa cheke.
Zipewa zimagwira ntchito polandila-zokha (RX). Ngakhale kuwonjezera antchito 10,000 pamalowa kumapanga ma byte 0 owonjezera a UWB ndikuchotsa kugundana kwamawayilesi (ALOHA). Zomangamanga zimangoyang'ana ndi gawo lothandizira, osati ndi kuchuluka kwa ogwira ntchito pa shift.
Cholandira choyimitsa cha UWB cham'manja chimaphatikizidwa mu chisoti chachitetezo, chomwe ndi zida zodzitetezera zomwe zimafunikira. Izi zimathetsa kugula ndi kukonza ma tracker a chipani chachitatu, kufunikira kwa makabati olipira, komanso chiopsezo cha ma tag kuyiwalika kapena kutayika.
Tidasankha dala chiwongolero chachitali komanso kuchuluka kwapaketi yotsika kwambiri. Izi zimapereka bajeti yayikulu yolumikizira wailesi komanso kukana kuwunikira kochulukira kuchokera kuzitsulo, m'malo mongofuna kutulutsa mwadzina.
Ziwerengerozi zimachokera ku chipinda chokhala ndi zida, osati labotale lopanda kanthu: kusawona mzere kosalekeza, njira za wailesi zikudutsa makoma awiri a plasterboard, awiri mwa ma beacon anayi atayima pafupi ndi maprinta a resin okhala ndi zipinda zachitsulo zochiritsira, ndipo galasi loyang'ana lili moyang'anizana ndi wachitatu. Palibe fyuluta ya Kalman, kusuntha kwapakati, kapena kusalaza kwa njira kulikonse komwe kunagwiritsidwa ntchito.
Kuyesa kunagwiritsa ntchito ma beacon anayi ndi wolandira wosayima pa nsanja ya DW1000. Kamangidwe kameneka kakhalanso pa DW3000, koma zotsatira za ziwerengerozi sizisinthira kumeneko — kapena ku malo a mafakitale pamlingo waukulu ndi anthu oyenda — popanda kampeni yoyezera yosiyana.
Mndandanda wopsinjika mwadala ndi mbali ya deta yosindikizidwa: kupezeka kwa ma coordinate kunatsika kufika 15.79% ndipo kulakwitsa kwa P95 radial kunakwera kufika 93.93 cm. Kuchotsa kugwirizanitsa nthawi kwa waya kumachepetsa kuyika. Sizichotsa kufunikira kwa uinjiniya wa chophimba ndi kuyesa kovomerezeka.
Kupezeka m'malo owopsa, kuzindikiridwa nthawi yolowa
Nthawi yokhala m'malo antchito, owopsa, autumiki ndi odikirira
Kusintha kwa kanema ya wailesi mwachangu malinga ndi dera
Kulamulira kulowa kwa zipinda zina
Kupezeka kwa ogwira ntchito panthawi yotuluka
Kusanthula njira ndi zochitika, ndi kupanga zochitika za chipinda choyang'anira
Kamangidwe komweko kangayenerere kuyenda m'nyumba pa mafoni a ogula — womvetsera wopanda kanthu akuwerengera malo ake, ndi ma beacon omwe mwachilengedwe sadziwa amene akumvetsera. Izi ndi zomwe FiRa imatcha Kuyenda M'nyumba Kosatsatiridwa. Apple idayambitsa API ya DL-TDoA mu iOS 26 ndipo Google idawonjezera thandizo la FiRa 4.0 mu Android 17, koma mtundu wathu wa paketi ndi wachinsinsi ndipo ma API a foni samamvetsetsa. Kusintha ma beacon kukhala mode wamba wa FiRa kungatanthauze kubwerera ku maukonde a ma anchor omwe amayenera kugwirizana nthawi zonse — kutaya ufulu wodziyimira womwe kamangidwe kameneka kanamangidwira. Njira yachindunji imafuna kuti opanga Apple ndi Android atsegule mwayi wopanga ma developer kulandira mafelemu a UWB ndi zolemba zawo za nthawi. Mpaka izi zichitike, iyi ndi njira ya kafukufuku, osati mbali yomwe yatumizidwa, ndipo timasunga kusiyana kumeneku mwadala.