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https://ape.zerobit.ccA high-precision AOA positioning algorithm engine for indoor scenarios, providing sub-meter localization based on multi-base station angle measurements. It features HTTP/MQTT standard interfaces, a visual monitoring dashboard, and cross-platform deployment for servers and desktop systems. Includes OpenAPI specifications for service management, configuration, and data pushing.
For production environments, APE can be installed as a system service to enable background execution and auto-start on boot. In the TUI interface, click 'Install Service' to trigger the installation. The engine maps to the following system managers:
After installation, the service listens on port 8880 by default. Access the WEB console at http://localhost:8880 to start the service. The initial password for the WEB console is empty.
# Default WEB Console URL
http://localhost:8880APE supports the following platforms with consistent functionality and deployment methods:
To install, download the appropriate package from https://ape.zerobit.cc/downloads and extract it. The core executable is ape for Linux/macOS and ape.exe for Windows.
Project files created with the Baseplot tool use the .dp file extension. There are two primary ways to upload or deploy these files:
.dp file via the Web Console.204 No Content response.# Endpoint: PUT /api/install/master
# Authentication: Bearer Token
# Response: 204 No Content
openapi: 3.0.1
paths:
/api/install/master:
put:
summary: Install Service
security:
- bearer: []
responses:
'204':
description: No Content
components:
securitySchemes:
bearer:
type: http
scheme: bearerFor rapid testing and debugging, run APE in TUI (Text User Interface) interactive mode. Upon startup, the engine automatically scans for all positioning base stations within the current local network segment, eliminating the need for manual base station address configuration.
Steps to verify positioning:
ape are available for Linux (aarch64 and x86_64), macOS (aarch64), and Windows (x86_64). The latest version is v0.1.11.ConfigurationWorker object defines the following required parameters for the Worker configuration:interface ConfigurationWorker {
udp_bind_addr: string; // UDP bind address
master_udp_addr: string; // Master UDP address
worker_thread_count: null; // Worker thread count
crossbeam_channel_size: null;// Crossbeam channel size
mpsc_channel_size: null; // MPSC channel size
fast_mode: boolean; // Enable fast mode
log: number; // Log level/setting
disable_height_datum: boolean; // Disable height datum
}When setting up data push, the following options are available:
Raw (binary little-endian mode) or Json (JSON format).None (no compression), Zstd, Lz4, or Gzip.The ConfigurationFilters object is used to define filtering parameters for EMA and G-Sensor tags. It requires two primary configuration blocks: ema and tag.
EMA Configuration (ema):
alpha (number): The smoothing factor for the Exponential Moving Average.max_distance (integer): The maximum distance threshold for the filter.Tag Configuration (tag):
Requires a gsensor object with the following properties:
collective_threshold (integer): Threshold for collective sensor triggers.individual_threshold (integer): Threshold for individual sensor triggers.start_static_duration (integer): Duration to consider the device static at start.start_moving_duration (number): Duration to consider the device moving at start.max_history (integer): The maximum number of history records to maintain.ConfigurationFilters:
type: object
properties:
ema:
type: object
properties:
alpha: { type: number }
max_distance: { type: integer }
required: [alpha, max_distance]
tag:
type: object
properties:
gsensor:
type: object
properties:
collective_threshold: { type: integer }
individual_threshold: { type: integer }
start_static_duration: { type: integer }
start_moving_duration: { type: number }
max_history: { type: integer }
required: [collective_threshold, individual_threshold, start_static_duration, start_moving_duration, max_history]
required: [gsensor]
required: [ema, tag]ConfigurationMaster object defines the core system settings. It requires a set of network, performance, and logging parameters. Key configuration areas include UDP binding for broadcasts, HTTP daemon addressing, and a list of pushers for data transmission.# Example ConfigurationMaster schema structure
ConfigurationMaster:
udp_bind_addr: "string" # Address to bind UDP services
udp_broadcasts: # List of broadcast targets
- addr: "string"
message: "string"
daemon_http_addr: "string" # HTTP address for the daemon
pushers: # Data pusher configurations
- addr: "string"
format: "string"
compress: "string"
interval: 0 # Integer interval
worker_thread_count: null # Thread count configuration
sync_channel_size: null # Sync channel size
default_s_height: 0.0 # Number (float)
fast_mode: true # Boolean flag for fast mode
log: 0 # Integer log level
disable_height_datum: false # Boolean flag to disable height datumhttp://localhost:8880. The system supports HTTP and MQTT protocols for pushing location result data.