iPhoneの外部センサーを使わない位置測定 --測定誤差を添えて--

Aug. 23, 2024 ͠Ζ͘· @mrs1669 iOSDC 2024 Track A 15:05
~ 15:25 iPhoneͷ֎෦ηϯαʔΛ࢖Θͳ͍Ґஔଌఆ  --ଌఆޡࠩΛఴ͑ͯ--

͜ͷτʔΫͰ͓࿩͢Δ͜ͱ w J1IPOFͰ࢖͑Δηϯαʔ͓͞Β͍ w $PSF.PUJPO w Ճ଎౓ͱ֯଎౓ͷΈͰڑ཭ܭଌ͢Δʹ͸ʁཧ࿦ͷઆ໌ &BTZ w
Ճ଎౓ͱ֯଎౓σʔλͷऔಘ w ཧ࿦ͷઆ໌ )BSE ίʔσΟϯά w ଌఆ݁Ռ w ܭଌޡࠩޡࠩิਖ਼

͜ͷτʔΫͰ࿩͞ͳ͍͜ͱ🙏 w ֎෦ηϯαʔ $PSF-PDBUJPO #MVFUPPUI -J%"3౳ w ηϯαʔ༥߹ΞϧΰϦζϜ w
ΧϧϚϯϑΟϧλ w ίϯϓϦϝϯλϦϑΟϧλ w "QQMF8BUDI "JS1PETͷ$PSF.PUJPO w $.#BUDIFE4FOTPS.BOBHFS J04 /&8 w $.)FBEQIPOF.PUJPO.BOBHFS J04

w ଜੴ୓ւ ͠Ζ͘· !NST w גࣜձࣾΏΊΈ৽ଔ ࿮ J04&OHJOFFS w J04%$ॳొஃʂ
w ཱྀɾ"QQMFɾࣗ࡞1$ w 3Z[FO9ຊ೔ൃചʂ🎉 ࣗݾ঺հ

w ཱྀɾ"QQMFɾࣗ࡞1$ w 3Z[FO9ຊ೔ൃചʂ🎉 w෺ཧɾ޻ֶৄ͘͠ͳ͍Ͱ͢🥺 ࣗݾ঺հ

w ཱྀɾ"QQMFɾࣗ࡞1$ w 3Z[FO9ຊ೔ൃചʂ🎉 w෺ཧɾ޻ֶৄ͘͠ͳ͍Ͱ͢🥺 ࣗݾ঺հ 👈ϑΟʔυόοΫ

τʔΫ֓ཁ

τʔΫ֓ཁ ࡢ೥ͷ'MVUUFSϋοΧιϯ EBZ 👇

iPhoneͷ֎෦ηϯαʔΛ࢖Θͳ͍  Ґஔଌఆ

iPhoneͷ֎෦ηϯαʔ

iPhoneͷ֎෦ηϯαʔΛ࢖Θͳ͍

iPhoneͷ಺෦ηϯαʔ(ͷΈ)Λ࢖͏

iPhoneͷ಺෦ηϯαʔͱ͸ʁ

ηϯαʔҰཡ w (14ηϯαʔ$--PDBUJPO.BOBHFS w Ϟʔγϣϯηϯαʔ$..PUJPO.BOBHFS w า਺ܭηϯαʔ$.1FEPNFUFS w ߴ౓ܭηϯαʔ$."MUJNFUFS w
র౓ɾً౓ηϯαʔCSJHIUOFTT 6*4DSFFO w -J%"3ηϯαʔ"3$PO fi HVSBUJPO w ଞ͍Ζ͍Ζ ਫѹ ਫԹ స౗ݕ஌

ηϯαʔҰཡ w (14ηϯαʔ$--PDBUJPO.BOBHFS wϞʔγϣϯηϯαʔ$..PUJPO.BOBHFS w า਺ܭηϯαʔ$.1FEPNFUFS w ߴ౓ܭηϯαʔ$."MUJNFUFS w র౓ɾً౓ηϯαʔCSJHIUOFTT
6*4DSFFO w -J%"3ηϯαʔ"3$PO fi HVSBUJPO w ଞ͍Ζ͍Ζ ਫѹ ਫԹ స౗ݕ஌

ࠓճར༻͢Δηϯαʔ Ϟʔγϣϯηϯαʔͱ͸ʁ

Ϟʔγϣϯηϯαʔ w $PSF.PUJPO w $..PUJPO.BOBHFS J04 w ҎԼͷ͕ͭऔಘͰ͖Δ "DDFMFSPNFUFSՃ଎౓ܭ
(ZSPTDPQFδϟΠϩείʔϓ .BHOFUPNFUFS࣓ྗܭ %FWJDFNPUJPOσόΠεϞʔγϣϯʁ ࢟੎ͱ͔΋औΕΔͬΆ͍

τʔΫ֓ཁ

Ϟʔγϣϯηϯαʔ w $PSF.PUJPO w $..PUJPO.BOBHFS J04 w ҎԼͷ͕ͭऔಘͰ͖Δ "DDFMFSPNFUFSՃ଎౓ܭ
(ZSPTDPQFδϟΠϩείʔϓ .BHOFUPNFUFS࣓ྗܭ %FWJDFNPUJPOσόΠεϞʔγϣϯʁ ࢟੎ͱ͔΋औΕΔͬΆ͍

Ϟʔγϣϯηϯαʔ "DDFMFSPNFUFSՃ଎౓ܭ (ZSPTDPQFδϟΠϩείʔϓ

Ϟʔγϣϯηϯαʔ "DDFMFSPNFUFSՃ଎౓ܭ w ࣠ Y Z [ ͝ͱʹಠཱͨ͠Ճ଎౓ w J1IPOFͷ৔߹Y
Z [͸👉 w ୯Ґ͸ (ZSPTDPQFδϟΠϩείʔϓ G

Ϟʔγϣϯηϯαʔ "DDFMFSPNFUFSՃ଎౓ܭ w ࣠ Y Z [ ͝ͱʹಠཱͨ͠Ճ଎౓ w J1IPOFͷ৔߹Y
Z [͸👉 w ୯Ґ͸ w (ZSPTDPQFδϟΠϩείʔϓ G m/s2 1.0G = 9.80665m/s2

Ϟʔγϣϯηϯαʔ "DDFMFSPNFUFSՃ଎౓ܭ (ZSPTDPQFδϟΠϩείʔϓ w ࣠ Y Z [ ͝ͱͷ֯଎౓ ճస଎౓
w ࣠͸Ճ଎౓ܭͱಉ͡ w ୯Ґ͸SBE/s

Ϟʔγϣϯηϯαʔ "DDFMFSPNFUFSՃ଎౓ܭ (ZSPTDPQFδϟΠϩείʔϓ w ࣠ Y Z [ ͝ͱͷ֯଎౓ ճస଎౓
w ࣠͸Ճ଎౓ܭͱಉ͡ w ୯Ґ͸SBE EFH ౓ /s /s

͜ΕͰͲ͏΍ͬͯҐஔܭଌΛʁʁ🤔

Ґஔܭଌͷཧ࿦ J1IPOF

🟣 J1IPOF x y Ґஔܭଌͷཧ࿦

⚫ 🟣 J1IPOF x y Ґஔܭଌͷཧ࿦ ํ޲ʹ x
2m/s2 ඵܦա ։࢝࣌

🟣 J1IPOF x y Ґஔܭଌͷཧ࿦ ํ޲ʹ x 2m/s2
ඵܦա a = 2m/s2 v = ∫ 1 0 aΔt + v0 = 2m/s x = ∫ 1 0 vΔt = 1m ⚫

🟣 J1IPOF x y Ґஔܭଌͷཧ࿦ ํ޲ͷՃ଎౓ x
0m/s2 6m/s ඵܦա ⚫

Ґஔܭଌͷཧ࿦ 🟣 J1IPOF x y ํ޲ͷՃ଎౓ x
0m/s2 6m/s ඵܦա ⚫

0m/s2 6m/s

0m/s2 6m/s 45∘/s

Ґஔܭଌͷཧ࿦ 🟣 J1IPOF x y ํ޲ͷՃ଎౓
x 0m/s2 6m/s ඵܦա 45∘/s ⚫

x 0m/s2 6m/s ඵܦա ⚫ 6m

x 0m/s2 6m/s ඵܦա ⚫ 6m 6m

Ґஔܭଌͷཧ࿦ ⚫ 🟣

Ґஔܭଌͷཧ࿦ ⚫ 🟣 x y ඵͰͷҠಈڑ཭ = x2 +
y2 x2 y2

Ճ଎౓ͱճస଎౓͚ͩͰ ͍͚ͦ͏ʂ💪

Ϟʔγϣϯηϯαʔ "DDFMFSPNFUFSՃ଎౓ܭ (ZSPTDPQFδϟΠϩείʔϓ

σʔλܭଌ "DDFMFSPNFUFSՃ଎౓ܭ (ZSPTDPQFδϟΠϩείʔϓ

ܭଌ։࢝ʂ📐

σʔλܭଌ "DDFMFSPNFUFSՃ଎౓ܭ (ZSPTDPQFδϟΠϩείʔϓ
"DDFMFSBUJPO9 "DDFMFSBUJPO: "DDFMFSBUJPO; 3PUBUJPO3BUF9 3PUBUJPO3BUF: 3PUBUJPO3BUF; <SBET> ੩ࢭ࣌ J1IPOFը໘্޲͖ <(>

͋Εʁ😅

σʔλܭଌ "DDFMFSPNFUFSՃ଎౓ܭ (ZSPTDPQFδϟΠϩείʔϓ <SBET> ੩ࢭ࣌ J1IPOFը໘্޲͖ <(>
"DDFMFSBUJPO9 "DDFMFSBUJPO: "DDFMFSBUJPO; 3PUBUJPO3BUF9 3PUBUJPO3BUF: 3PUBUJPO3BUF;

σʔλܭଌ ੩ࢭ࣌ J1IPOFը໘্޲͖ <(> "DDFMFSPNFUFSՃ଎౓ܭ 
"DDFMFSBUJPO9 "DDFMFSBUJPO: "DDFMFSBUJPO;

"DDFMFSBUJPO9 "DDFMFSBUJPO:

"DDFMFSBUJPO9 "DDFMFSBUJPO: −y −z g

΍͹͍💦

υΩϡϝϯτΛಡ΋͏ʂ

υΩϡϝϯτνΣοΫ 5IF$PSF.PUJPOGSBNFXPSLHJWFTZPVBDDFTTUPUIFSBXEBUBGSPNNBOZEJ ff FSFOUUZQFTPG IBSEXBSFTFOTPST JODMVEJOHBDDFMFSPNFUFST HZSPTDPQFT BOENBHOFUPNFUFST8IJMFUIF SBXEBUBJTVTFGVM JUTPNFUJNFTDPOUBJOTBEEJUJPOBMJOGPSNBUJPOZPVEPO`UOFFE'PS
FYBNQMF UIFSBXBDDFMFSPNFUFSEBUBDPOUBJOTCPUIUIFBDDFMFSBUJPODBVTFECZHSBWJUZBOE CZUIFEFWJDF`TNPUJPO5PHFUPOMZUIFEFWJDFTQFDJ fi DBDDFMFSBUJPO ZPVNVTUSFNPWFUIF HSBWJUBUJPOBMBDDFMFSBUJPOGSPNUIFSBXEBUBWBMVFT5IFSFNPWBMPGUIJTEBUBSFRVJSFT BEEJUJPOBMJOGPSNBUJPOBOEFYUSBQSPDFTTJOHUJNF $PSF.PUJPOϑϨʔϜϫʔΫΛ࢖༻͢ΔͱɺՃ଎౓ܭɺδϟΠϩείʔϓɺ࣓ྗܭͳͲɺ͞·͟·ͳ छྨͷϋʔυ΢ΣΞηϯαʔ͔ΒͷੜσʔλʹΞΫηεͰ͖·͢ɻੜσʔλ͸ศརͰ͕͢ɺඞཁͷͳ ͍௥Ճ৘ใؚ͕·Ε͍ͯΔ৔߹͕͋Γ·͢ɻͨͱ͑͹ɺະՃ޻ͷՃ଎౓ܭσʔλʹ͸ɺॏྗʹΑΔՃ ଎౓ͱσόΠεͷಈ͖ͷ྆ํؚ͕·Ε͍ͯ·͢ɻσόΠεݻ༗ͷՃ଎౓ͷΈΛऔಘ͢Δʹ͸ɺੜσʔ λ஋͔ΒॏྗՃ଎౓Λ࡟আ͢Δඞཁ͕͋Γ·͢ɻ͜ͷσʔλΛ࡟আ͢Δʹ͸ɺ௥Ճ৘ใͱ௥Ճͷॲཧ ͕࣌ؒඞཁͰ͢ɻ

Ϟʔγϣϯηϯαʔ 5PNBLFJUFBTJFSUPHFUUIFEBUBZPVXBOU UIFEFWJDFNPUJPOTFSWJDFQSPDFTTFTUIFSBXEBUBBOE NBLFTUIFGPMMPXJOHWBMVFTBWBJMBCMF ඞཁͳσʔλΛ؆୯ʹऔಘͰ͖ΔΑ͏ʹɺEFWJDFNPUJPOαʔϏε͸ੜσʔλΛॲཧ͠ɺ࣍ͷ஋Λ࢖༻Ͱ͖Δ Α͏ʹ͠·͢ɻ w 5IFEFWJDF`TBUUJUVEF PSPSJFOUBUJPO JOUISFFEJNFOTJPOBMTQBDF࣍ݩۭؒʹ͓͚ΔσόΠεͷ࢟੎
·ͨ͸޲͖ w 5IFVOCJBTFESPUBUJPOSBUFPGUIFEFWJDFσόΠεͷภΓͷͳ͍ճస଎౓ w 5IFDVSSFOUHSBWJUZWFDUPSݱࡏͷॏྗϕΫτϧ w 5IFEFWJDFTQFDJ fi DBDDFMFSBUJPO XJUIPVUHSBWJUZ σόΠεݻ༗ͷՃ଎౓ ॏྗͳ͠ w 5IFDVSSFOUNBHOFUJD fi FMEWFDUPSݱࡏͷ࣓৔ϕΫτϧ

͜ΕͰ͍͍͡ΌΜʂ

σʔλܭଌ EFWJDFNPUJPO

࠶ͼܭଌ։࢝ʂ📐

σʔλ࠶ܭଌ "DDFMFSPNFUFSՃ଎౓ܭ EFWJDFNPUJPO (ZSPTDPQFδϟΠϩείʔϓ EFWJDFNPUJPO ੩ࢭ࣌ J1IPOFը໘্޲͖ <SBET>
 <(> "DDFMFSBUJPO9 "DDFMFSBUJPO: "DDFMFSBUJPO; 3PUBUJPO3BUF9 3PUBUJPO3BUF: 3PUBUJPO3BUF;

σʔλ࠶ܭଌ "DDFMFSPNFUFSՃ଎౓ܭ EFWJDFNPUJPO ੩ࢭ࣌ J1IPOFը໘্޲͖ <(>
"DDFMFSBUJPO9 "DDFMFSBUJPO: "DDFMFSBUJPO; <(> "DDFMFSBUJPO9 "DDFMFSBUJPO: "DDFMFSBUJPO; "DDFMFSPNFUFSՃ଎౓ܭ

σʔλ࠶ܭଌ ੩ࢭ࣌ J1IPOFը໘্޲͖
3PUBUJPO3BUF9 3PUBUJPO3BUF: 3PUBUJPO3BUF; (ZSPTDPQFδϟΠϩείʔϓ (ZSPTDPQFδϟΠϩείʔϓ EFWJDFNPUJPO <SBET> 3PUBUJPO3BUF9 3PUBUJPO3BUF: 3PUBUJPO3BUF; <SBET>

Ґஔ(ڑ཭)ଌఆ։࢝ʂ

ڑ཭ܭଌํ๏

Ґஔܭଌͷཧ࿦ ⚫ 🟣 x y ඵͰͷҠಈڑ཭ = x2 +
y2 x2 y2

ڑ཭ܭଌํ๏ "DDFMFSPNFUFSՃ଎౓ܭ (ZSPTDPQFδϟΠϩείʔϓ

ڑ཭ܭଌํ๏ "DDFMFSPNFUFSՃ଎౓ܭ (ZSPTDPQFδϟΠϩείʔϓ ax
(t) ay (t) az (t) ωx (t) ωy (t) ωz (t)

ڑ཭ܭଌํ๏ "DDFMFSPNFUFSՃ଎౓ܭ (ZSPTDPQFδϟΠϩείʔϓ ax (t) ay (t) az
(t) ωx (t) ωy (t) ωz (t)

ڑ཭ܭଌํ๏ ⃗ adevice (t)
= ax (t) ay (t) az (t) ⃗ ω(t) = ωx (t) ωy (t) ωz (t)

ڑ཭ܭଌํ๏ ⃗ adevice (t) ⃗ ω(t)
= ωx (t) ωy (t) ωz (t)

ڑ཭ܭଌํ๏ ⃗ aworld (t) R(t)
⋅ ⃗ adevice (t) ⃗ ω(t) = ωx (t) ωy (t) ωz (t) ճసߦྻSPUBUJPONBUSJY R(t)

⋅ ⃗ adevice (t) ⃗ ω(t) = ωx (t) ωy (t) ωz (t) R(t + Δt) R(t) ⋅ Rz (θz (t)) ⋅ Ry (θy (t)) ⋅ Rx (θx (t))

⋅ ⃗ adevice (t) ⃗ ω(t) = ωx (t) ωy (t) ωz (t) R(t + Δt) R(t) ⋅ Rz (θz (t)) ⋅ Ry (θy (t)) ⋅ Rx (θx (t)) ωx (t) ⋅ Δt ωy (t) ⋅ Δt θx (t) = θy (t) = θz (t) = θx (t) θy (t) θz (t) ωz (t) ⋅ Δt

⋅ ⃗ adevice (t) R(t + Δt) R(t) ⋅ Rz (ωz (t) ⋅ Δt) ⋅ Ry (ωy (t) ⋅ Δt) ⋅ Rx (ωx (t) ⋅ Δt) ωx (t) ⋅ Δt ωy (t) ⋅ Δt ωz (t) ⋅ Δt

⋅ ⃗ adevice (t) R(t + Δt) R(t) ⋅ Rz (ωz (t) ⋅ Δt) ⋅ Ry (ωy (t) ⋅ Δt) ⋅ Rx (ωx (t) ⋅ Δt) ωx (t) ⋅ Δt ωy (t) ⋅ Δt ωz (t) ⋅ Δt Rx (θx ) = 1 0 0 0 cos θx −sin θx 0 sin θx cos θx Ry (θy ) = cos θy 0 sin θy 0 1 0 −sin θy 0 cos θy Rz (θz ) = cos θz −sin θz 0 sin θz cos θz 0 0 0 1

⋅ ⃗ adevice (t) R(t + Δt) R(t) ⋅ Rz (ωz (t) ⋅ Δt) ⋅ Ry (ωy (t) ⋅ Δt) ⋅ Rx (ωx (t) ⋅ Δt) ωx (t) ⋅ Δt ωy (t) ⋅ Δt ωz (t) ⋅ Δt Rx (θx ) = 1 0 0 0 cos θx −sin θx 0 sin θx cos θx Ry (θy ) = cos θy 0 sin θy 0 1 0 −sin θy 0 cos θy Rz (θz ) = cos θz −sin θz 0 sin θz cos θz 0 0 0 1 ωx (t) ⋅ Δt ωy (t) ⋅ Δt θx (t) = θy (t) = θz (t) = ωz (t) ⋅ Δt θx θy θz 1 0 0 0 cos θx −sin θx 0 sin θx cos θx

⋅ ⃗ adevice (t) R(t + Δt) R(t) ⋅ cos θz (t) −sin θz (t) 0 sin θz (t) cos θz (t) 0 0 0 1 cos θy (t) 0 sin θy (t) 0 1 0 −sin θy (t) 0 cos θy (t) 1 0 0 0 cos θx (t) −sin θx (t) 0 sin θx (t) cos θx (t) θx θx θx θx θy θy θy θy θz θz θz θz

⋅ ⃗ adevice (t)

ڑ཭ܭଌํ๏ ⃗ aworld (t)

⃗ aworld (t) R(t) ⋅ ⃗
adevice (t) ⃗ v(t + Δt) = ⃗ v(t) ⃗ aworld (t) ⋅ Δt ڑ཭ܭଌํ๏ ⃗ aworld (t)

⃗ aworld (t) R(t) ⋅ ⃗
adevice (t) ڑ཭ܭଌํ๏ ⃗ v(t + Δt) = ⃗ v(t) ⃗ aworld (t) ⋅ Δt ⃗ aworld (t) ⃗ d(t + Δt) = ⃗ d(t) ⃗ v(t) ⋅ Δt ⃗ d(t)

ڑ཭ܭଌํ๏ ⃗ d(t)

ڑ཭ܭଌํ๏ = dx (t) dy (t) dz (t) ⃗
d(t) dx (t) dy (t) dz (t)

ڑ཭ܭଌํ๏ D(t) = dx (t)2 + dy (t)2 +
dz (t)2 dx (t) dy (t) dz (t)

ίʔυʹ͍ͯ͘͠

ίʔσΟϯάλΠϜ

ܭଌ݁Ռ

݁ߏޡ͕ࠩେ͖͍😣  (ಛʹZ࣠)

σʔλ࠶ܭଌ "DDFMFSPNFUFSՃ଎౓ܭ EFWJDFNPUJPO (ZSPTDPQFδϟΠϩείʔϓ EFWJDFNPUJPO ੩ࢭ࣌ J1IPOFը໘্޲͖ <SBET>
 <(> "DDFMFSBUJPO9 "DDFMFSBUJPO: "DDFMFSBUJPO; 3PUBUJPO3BUF9 3PUBUJPO3BUF: 3PUBUJPO3BUF;

ޡࠩิਖ਼ʂ

ޡࠩิਖ਼ ΩϟϦϒϨʔγϣϯ "DDFMFSPNFUFSՃ଎౓ܭ EFWJDFNPUJPO (ZSPTDPQFδϟΠϩείʔϓ EFWJDFNPUJPO ੩ࢭ࣌ J1IPOFը໘্޲͖
<SBET> <(> "DDFMFSBUJPO9 "DDFMFSBUJPO: "DDFMFSBUJPO; 3PUBUJPO3BUF9 3PUBUJPO3BUF: 3PUBUJPO3BUF;

ޡࠩิਖ਼ ΩϟϦϒϨʔγϣϯ "DDFMFSPNFUFSՃ଎౓ܭ EFWJDFNPUJPO ੩ࢭ࣌ J1IPOFը໘্޲͖ <(>
"DDFMFSBUJPO9 "DDFMFSBUJPO: "DDFMFSBUJPO;

ޡࠩิਖ਼ ଞ w ඍখͳՃ଎౓Λʹ w ҰఆͷՃ଎౓͕ଓ͘৔߹͸଎౓

࣮ػσϞ

࢒೦ʂ😭

ܭଌ͕͏·͘Ͱ͖ͳ͍ݪҼ w ཧ࿦͕ؒҧ͍ͬͯΔ w ಛʹճసॲཧ ճసߦྻ w ηϯαʔͷޡ͕ࠩେ͖͍ w
EVSBUJPO ܭଌִؒ ͕͓͔͍͜͠ͱ͕͋Δ

·ͱΊ w J1IPOFͰ࢖͑Δηϯαʔ͍Ζ͍Ζ w υΩϡϝϯτ͸͔ͬ͠Γಡ΋͏ʂ w ཧ࿦্͸Ճ଎౓ͱ֯଎౓͚ͩͰҐஔ ڑ཭ ܭଌͰ͖Δ w
ޡࠩ͸͍Ζ͍Ζ w ޡࠩͷิਖ਼͸͍ͩͿ໽հ

·ͱΊ w J1IPOFͰ࢖͑Δηϯαʔ͍Ζ͍Ζ w υΩϡϝϯτ͸͔ͬ͠Γಡ΋͏ʂ w ཧ࿦্͸Ճ଎౓ͱ֯଎౓͚ͩͰҐஔ ڑ཭ ܭଌͰ͖Δ w
ޡࠩ͸͍Ζ͍Ζ w ޡࠩͷิਖ਼͸͍ͩͿ໽հ w "3,JU "QQMF7JTJPO1SP͸༏ल ֎෦ηϯαʔͷิਖ਼͸ॏཁ

3FGFSFODFT "QQMF%PDVNFOU w $PSF.PUJPO w 8IBU`TOFXJO$PSF.PUJPO

3FGFSFODFT ࢀߟهࣄ ܟশུ w UVCPZBOJ1IPOF౥ࡌηϯαͷछྨͱ࢖ΘΕํू σϞΞϓϦ w 'PMMPX5IF%BSLTJEFʲ$PSF.PUJPOʳJ1IPOFͷϞʔγϣϯσʔλ ʢՃ଎౓΍֯଎౓ͳͲʣΛ$47Ͱه࿥͢ΔΞϓϦΛ࡞੒ͯ͠Έͨ
w Ώ͖ͬʲ΋ͤΖ͙ʳϞʔγϣϯηϯαʔͷ஋Λදࣔɾϩά͢ΔΞ ϓϦʲ"QQMF4UPSFʳ

Aug. 23, 2024 ͠Ζ͘· @mrs1669 iOSDC 2024 Track A 15:05
~ 15:25 iPhoneͷ֎෦ηϯαʔΛ࢖Θͳ͍Ґஔଌఆ  --ଌఆޡࠩΛఴ͑ͯ--

iPhoneの外部センサーを使わない位置測定 --測定誤差を添えて--

iPhoneの外部センサーを使わない位置測定 --測定誤差を添えて--

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iPhoneの外部センサーを使わない位置測定 --測定誤差を添えて--

iPhoneの外部センサーを使わない位置測定 --測定誤差を添えて--