Isakhiwo se-Downlink Reverse-TDoA: amabhikhoni azimele adlulisa amasignali; umamukeli ongaphakathi kwesigqoko uyalalela.
Ukuzulazula ngesathelayithi kuma emngceleni wesakhiwo. I-Bluetooth ne-Wi-Fi zikhombisa kuphela ukuthi umsebenzi ukuyiphi igumbi — okude kakhulu ezindaweni eziyingozi zezimboni. Umuntu omi ngokuphepha eduze kwesithiyo nomuntu ongena endaweni ekhishwe ngaphandle yizigameko zokusebenza ezihluke ngokuyisisekelo. Ngaphezu komkhawulo othile wokunemba, izixhumanisi ziguquka zisuka kumamaka emephu alula zibe yizigameko eziqinisekisiwe: ukungena endaweni, isikhathi sokuhlala, nemikhondo yokuhamba enembile.
I-UWB inikeze ukulandelela okunembayo iminyaka engaphezu kweshumi, kodwa ukusetshenziswa kwayo kwezimboni kubambezeleke ngenxa yezimo zezohwebo kunokulinganiselwa kobuchwepheshe. Ezinhlelweni ezijwayelekile ze-uplink-TDoA, ama-anchor amisiwe kufanele amukele amaphakethe awo wonke ama-tag, agcine ukuvumelanisa isikhathi okunezintambo okungaphansi kwe-nanosecond, futhi abuyisele izilinganiso nge-Ethernet. Izinkomba zezimboni zikhombisa ukuthi cishe u-85% wezindleko zokufaka zizonke zivela ezintanjeni kuphela: imibhobho yezintambo, ama-PoE switch, izinsimbi zezimboni, nomsebenzi kagesi oqinisekisiwe.
Umthamo uyisithiyo sesibili esibulalayo. Amanani ama-tag amakethiwe avame ukuba izibalo zethiyori: ngokufinyelela kwesiteshi se-ALOHA okungahleliwe ku-18% nje kuphela, cishe ingxenye eyodwa kwezintathu yokudluliselwa iyashayisana. Amaphrofayili e-radio anesilinganiso sedatha esiphezulu amakethwe ngomthamo awakwazi ukumelana nensimbi yesakhiwo nokubonakala kwe-multipath. Ekuphepheni kwezimboni, iphakethe elehlisiwe lisho umsebenzi ongagadiwe.
Umbiko wezobuchwepheshe TR-XENOM-2025-01, ukuhlolwa okumisiwe ku-DW1000 platform namabhikhoni amane.
Amabhakhoni angaguquki adlulisa amaphakethe e-UWB njalo ngama-300 ms; umamukeli ku-helmet ulalela kuphela futhi athumele izitembu zesikhathi kuseva ngesiteshi se-telemetry esijwayelekile. Amabhakhoni awatholi lutho futhi awahlanganyeli ngereferensi yesikhathi — hhayi ngekhebula, hhayi ngomsakazo, hhayi nge-GPS. Yonke enye inzuzo yesistimu ilandela ngokuqondile kulesi sakhiwo.
Azikho izintambo zesikhathi, azikho izinguquko ze-PoE, azikho izindlela zekhebula eziya ezindaweni zokukhweza. Ekucushweni kwe-DW1000 esikhathini esingu-300 ms, ibhakoni lisebenza cishe izinsuku eziyisithupha ngebhethri elingu-10,000 mAh. Izindawo zokukhweza zikhethwa ku-geometry yomsakazo wesakhiwo, hhayi lapho kukhona khona izisekelo zamandla.
Amabhikhoni, izamukeli zokuma ze-UWB ephathwayo nezindlela ze-RF azidingi ukuqondisa kwebhentshi futhi awekho amatafula okulungisa ngaphambi kokufakwa. Ukuthunyelwa akudingi amathuluzi okulinganisa abizayo futhi kufika ekuhleleni umsakazo okuyisisekelo: ukukhwezwa ezindaweni eziklanyelwe, ukurekhoda izixhumanisi zawo kanye nokuhlola ukwamukela.
Omakalabha basebenza ngemodi yokwamukela kuphela (RX). Ngisho nokwengeza abasebenzi abangu-10,000 kusayithi kudala amabhayithi angu-0 wethrafikhi eyengeziwe ye-UWB futhi kususa ukungqubuzana kwesiteshi somsakazo (ALOHA). Ingqalasizinda ilinganisa ngendawo okukhava kuyo kuphela, hhayi ngenani labasebenzi abaseshifu.
Isamukeli sokuma se-UWB esiphathwayo sihlanganiswe nesigqoko sokuzivikela, okuyimpahla yokuvikela eyisibopho. Lokhu kuqeda ukuthengwa nokugcinwa kwama-tracker ezinkampani zangaphandle, isidingo sokushaja amakhabethe, kanye nengozi yokuthi amathegi akhohlwe noma alahleke.
Sikhethe ngamabomu isethulo eside kanye nezinga ledatha yephakethe eliphansi kakhulu. Lokhu kunikeza isabelomali esiphezulu sesixhumanisi somsakazo kanye nokumelana nokuboniswa kwezindlela eziningi ezivela ensimbi, esikhundleni sokuphishekela ukuphuma okulinganiselwe.
Izibalo zivela egumbini elinefenisha, hhayi elebhu engenalutho: ukungaboni ngqo okuqhubekayo, izindlela ze-radio eziwela izindonga ezimbili ze-plasterboard, amabhikhoni amabili kwamane ami eduze kwamaphrinta e-resin anamagumbi okwelapha ensimbi, nesibuko esibheke ngqo kwesesithathu. Akukho Kalman filter, isilinganiso esihambayo noma ukushelela komkhondo kwanoma yiluphi uhlobo okwasetshenziswa.
Ukuhlolwa kusebenzise amabhikhoni amane nomamukeli omile ku-DW1000 platform. I-architecture iphinde isetshenziswe ku-DW3000, kodwa le miphumela yobuningi ayidluleli kuyo — noma endaweni yezimboni ngesilinganiso esinabasebenzi abahambayo — ngaphandle komkhankaso wokulinganisa ohlukile.
Uchungechunge lokucindezeleka olungahle kabi ngamabomu luyingxenye yedatha eshicilelwe: ukutholakala kwezixhumanisi kwehle kwafinyelela ku-15.79% futhi iphutha le-radial le-P95 lenyuka laya ku-93.93 cm. Ukususa ukuvumelanisa okunezintambo kwenza kube lula ukufaka. Akususi isidingo sobunjiniyela bokumboza nokuhlolwa kokwamukela.
Ubukhona endaweni eyingozi, kutholwe ngesikhathi sokungena
Isikhathi esichithwe ezindaweni zokusebenza, eziyingozi, zesevisi nezokulinda
Ukushintsha kweshaneli ye-radio okuzenzakalelayo ngendawo
Ukulawulwa kokufinyelela emagumbini athile
Indawo yabasebenzi ngesikhathi sokuphuma
Ukuhlaziywa komzila nesigameko, nokukhiqizwa kwesigameko segumbi lokulawula
I-architecture efanayo ingalungela ukuzulazula kwangaphakathi kumafoni wabathengi — umlaleli ongenzi lutho obala indawo yakhe, namabhikhoni ngokwakhiwa angazi ukuthi ubani olalele. Lokho yisona simo i-FiRa esibiza nge-Untracked Indoor Navigation. I-Apple yethule i-DL-TDoA API ku-iOS 26 futhi i-Google yengeze ukusekelwa kwe-FiRa 4.0 ku-Android 17, kodwa ifomethi yethu yephakethe ingeyobunikazi futhi ama-API wesistimu yefoni akayiqondi. Ukushintsha amabhikhoni abe yimodi evamile ye-FiRa kungasho ukubuyela kunethiwekhi yama-anchor okufanele ahlale ehlangana — kulahlekelwa ukuzimela i-architecture eyakhelwe kona. Indlela eqondile idinga abakhiqizi be-Apple ne-Android ukuthi bavule ukufinyelela konjiniyela kumafreyimu e-UWB amukelwe nezimpawu zabo zesikhathi ze-hardware. Kuze kube lokho kwenzeka lokhu kuyisiqondiso socwaningo, hhayi isici esithunyelwe, futhi sigcina umehluko ngamabomu.