High-speed Downlink TDoA RTLS Demo

../../../_images/downlink_tdoa_rtls_demo.png

Prepare for setup

LEAPS Manager application installed.
At least five LC14 devices.
Batteries or USB-C cables for powering the devices.
Recommended: clamp or tripod with a camera mount for attachment of the Anchor devices.
Optional: Putty, Teraterm, minicom or your favorite terminal application installed on your computer.

For users, the recommended starting point is either the latest release.

Setup time: less than 5 minutes

Quick Start

Overview

This setup demonstrates high-speed real-time navigation of an unlimited amount of Tags in receive-only mode with complete privacy using the Downlink Time Difference of Arrival (DL-TDoA) technology. Each Tag can provide a location up to 50 Hz independently of the others and demonstrates the LEAPS Manager application with Tag position navigation.

Typical applications: high-speed indoor navigation with mapping, autonomous robot and vehicle navigation, and asset tracking with location data being sent through another communication channel.

Setup instructions

Power ON the devices.

The statically mounted devices will function as Anchors, providing location information to the Tags.

The moving devices will function as Tags configured in navigation mode in receive mode only, with no transmission (GNSS-like mode).

There is no limit on the amount of Tags.

Configure using the Demo Selector in the LEAPS Manager:

2.1. Open the LEAPS Manager and select the Demo Selector from the main page.

2.2. select the High-Speed Downlink TDoA RTLS.

2.3. A list of discovered devices via Bluetooth will appear on the list. Swipe down to update the list if needed.

2.4. Select the devices that will be used for the demo. The anchors and tags on the top side indicate the devices needed for the demo.

2.5. Press the SAVE to configure the device(s) into the LEAPS RTLS mode, networking profile 3 (support High-Speed DL-TDoA).

2.6. A pop-up window Anchor Configuration will appear to offer the options to configure the Anchor’s positions. select the Manual, Auto positioning or Keep current position depending on the need, then Press the OK.

2.7. Please check visually that the RED LED blinks when the device starts.

When the devices are configured successfully, the LEAPS Demo Network window will appear with a list of configured nodes.

Recommended: Use the alarm feature to identify the device, and move it to the correct physical location.
Open the Grid, located at the top drop down menu (select Network Details), is for visualization of the devices and their positions.

The LEAPS Manager configured to profile 3 (support High-Speed DL-TDoA) but in auto state. So we can see the tag’s coordinates on the map.

Please refer to the LEAPS Manager for more details on how to use the application to configure and visualize the nodes and network.

Advanced

Advanced setup

Get ready for the advanced setup! We’ll tap into the terminal’s power to help you configure your device like a pro. Just follow these steps and you’ll be all set.

Use a USB-C Data Cable to connect the USB-C Data Port 1 or USB-C Data Port 2 of devices to your PC.

Connect to a serial port using your desired terminal application, such as Putty, Teraterm, Minicom, or your favorite terminal application. We need to configure the baud rate to 115200.

For example use Minicom, on Ubuntu (Linux):
minicom -b 115200 -D /dev/ttyACM0

Press double enter on the shell console to access the command line control system

For example open /dev/ttyACM0 and press double enter, on Ubuntu (Linux):

leaps@leaps:~$ minicom -b 115200 -D /dev/ttyACM0

  Low Energy Accurate Positioning System

  Copyright :  2016-2025 LEAPS
  License   :  Please visit https://www.leapslabs.com/leaps-rtls-license
  Compiled  :  Oct 15 2026 09:42:20 (v1.2.1-4f9295)

  Help      :  ? or help

  FOR DEMO PURPOSE ONLY, NOT FOR SALE.
  DEVICE RUNTIME IS LIMITED TO 48 HOURS. RESET THE DEVICE TO RECOVER IT.

  leaps>

Configure for each device, do the following steps:

Optional: Reset devices to default, run the frst command.
$ leaps> frst
frst ok
Monitor and wait for the device to reset successfully. Then press double enter to access the command line control system.

Use the nps 3 command to configure profile 3 (support High-Speed DL-TDoA) for each device.
$ leaps> nps 3
nps: ok
Use the nis command to configure all devices in a network.
$ leaps> nis 0x1234
nis: ok
Then, it is neccessary to reset the device to update the configuration. Use the reset command to reset the device.
$ leaps> reset
reset ok

Note

In this example, we will configure an anchor with enable initiator, 3 anchors, and a tag.

Configure the mode for each anchor and tag.

To configure an anchor with enable initiator, use the nmi command to configure a device.
$ leaps> nmi
Then, the device will reset, and to access the command line control system again, press double enter.
To configure 3 anchors, use the nma command to configure 3 devices to anchor mode, but do not enable initiator.
$ leaps> nma
Then, the device will reset, and to access the command line control system again, press double enter.
To configure a tag, use the nmt command to configure a device to tag mode
$ leaps> nmt
Then, the device will reset, and to access the command line control system again, press double enter.

Configure the clock reference for one of the anchors.

At least one anchor is configured.
To configure an anchor with enable clock reference, use the acs cr command to configure a device.
$ leaps> acs cr 1
Then, it is neccessary to reset the device need to reset the device to update the configuration. Use the reset command to reset the device.
$ leaps> reset
reset ok

Configure the actual position for each anchor.

To get the position use pg command and to set the position use ps command for each anchor.

In this example, we will set up 4 anchors:
Anchor 1
leaps> ps 0 7500 1550
ps: ok
leaps> pg
pg: x:0 y:7500 z:1550 qf:100
leaps>
Anchor 2
leaps> ps 5500 7500 1550
ps: ok
leaps> pg
pg: x:5500 y:7500 z:1550 qf:100
leaps>
Anchor 3
leaps> ps 5500 4000 1500
ps: ok
leaps> pg
pg: x:5500 y:4000 z:1500 qf:100
leaps>
Anchor 4
leaps> ps 0 4000 1550
ps: ok
leaps> pg
pg: x:0 y:4000 z:1550 qf:100
leaps>
Note

The device must be configured to accurately reflect its actual physical location.

Additionally, LEAPS Manager can be used to visualize the devices and their locations.

Configuration for each tag allows the use of DL-TDoA technology for measurement.

To configure, use the tcs mode 2 command for a tag.
$ leaps> tcs mode 2
tcs: ok
Then, it is neccessary to reset the device to update the configuration. Use the reset command to reset the device.
$ leaps> reset
reset ok

By default normal update rate is 0.02 s/ 50 Hz and stationary update rate is 1.0 s/ 1.0 Hz. To increase speed, use urs command.

For example, configure normal update rate to 0.02 s/ 50 Hz and, stationary update rate is 0.02 s/ 50 Hz. Run the following command:
$ leaps> urs 1 1
urs: ok

Optional: In steps 5, 6, 7, 8 and, 9 can use the si (System Information) command to verify whether the mode, profile, and network configurations are correct.

For example on 4 anchors and a tag:

Anchor 1 (role as an initiator)

mode: ani
panid=x1234
prof=3
cr=1

leaps> nps 3
nps: ok
leaps> nis 0x1234
nis: ok
leaps> acs cr 1
nis: ok
leaps> nmi

Low Energy Accurate Positioning System

Copyright :  2016-2025 LEAPS
License   :  Please visit https://www.leapslabs.com/leaps-rtls-license
Compiled  :  Oct 15 2026 09:42:20 (v1.2.1-4f9295)

Help      :  ? or help

FOR DEMO PURPOSE ONLY, NOT FOR SALE.
DEVICE RUNTIME IS LIMITED TO 48 HOURS. RESET THE DEVICE TO RECOVER IT.

leaps> si
[000065.079 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000065.079 INF] sys: main main_ver=x02070101 cfg_ver=x01040000 batt=empty:0mV:NoCharger board=LC14_B prod=LC14_B pwr_cnt=0 rst_cnt=2
[000065.080 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000065.081 INF] uwb: tx_pwr=x34/xC6C6C6C6 sts:shr:phr:data=22.6:22.6:22.6:22.6[dB] cpl=FCC/ETSI pgcnt=236 temp=25
[000065.083 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16422 rx_delay=16422
[000065.084 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECAED5BC8B1468D
[000065.103 INF] mode: ani (act,real)
[000065.104 INF] uwbmac: connected prof=3 (manual)
[000065.105 INF] uwbmac: bh disconnected
[000065.106 INF] cfg: sync=0 fwup=1 ble=1 leds=1 init=1 uab=1 bh=auto bh_stat=off cr=1 upd_rate_stat=30 label=ID468D
[000065.128 INF] enc: off
[000065.129 INF] ble: addr=F3:D9:66:75:93:EB
leaps>

Anchor 2

mode: an
panid=x1234
prof=3

leaps> nps 3
nps: ok
leaps> nis 0x1234
nis: ok
leaps> nma

Low Energy Accurate Positioning System

Copyright :  2016-2025 LEAPS
License   :  Please visit https://www.leapslabs.com/leaps-rtls-license
Compiled  :  Oct 15 2026 09:42:20 (v1.2.1-4f9295)

Help      :  ? or help

FOR DEMO PURPOSE ONLY, NOT FOR SALE.
DEVICE RUNTIME IS LIMITED TO 48 HOURS. RESET THE DEVICE TO RECOVER IT.

leaps> si
[000026.530 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000026.530 INF] sys: main main_ver=x02070101 cfg_ver=x01040000 batt=empty:0mV:NoCharger board=LC14_B prod=LC14_B pwr_cnt=0 rst_cnt=5
[000026.531 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000026.532 INF] uwb: tx_pwr=x34/xCECECECE sts:shr:phr:data=23.4:23.4:23.4:23.4[dB] cpl=FCC/ETSI pgcnt=229 temp=25
[000026.533 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16423 rx_delay=16423
[000026.535 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECAE4F84AA54F9E
[000026.554 INF] mode: an (act,-)
[000026.554 INF] uwbmac: connected prof=3 (manual)
[000026.554 INF] uwbmac: bh disconnected
[000026.555 INF] cfg: sync=0 fwup=1 ble=1 leds=1 init=0 uab=1 bh=auto bh_stat=off cr=0 upd_rate_stat=30 label=ID4F9E
[000026.578 INF] enc: off
[000026.579 INF] ble: addr=D8:70:8B:16:3B:EE
leaps>

Anchor 3

mode: an
panid=x1234
prof=3

leaps> nps 3
nps: ok
leaps> nis 0x1234
nis: ok
leaps> nma

Low Energy Accurate Positioning System

Copyright :  2016-2025 LEAPS
License   :  Please visit https://www.leapslabs.com/leaps-rtls-license
Compiled  :  Oct 15 2026 09:42:20 (v1.2.1-4f9295)

Help      :  ? or help

FOR DEMO PURPOSE ONLY, NOT FOR SALE.
DEVICE RUNTIME IS LIMITED TO 48 HOURS. RESET THE DEVICE TO RECOVER IT.

leaps> si
[000005.203 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000005.203 INF] sys: main main_ver=x02070101 cfg_ver=x01040000 batt=empty:0mV:NoCharger board=LC14_B prod=LC14_B pwr_cnt=0 rst_cnt=6
[000005.204 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000005.205 INF] uwb: tx_pwr=x34/xCECECECE sts:shr:phr:data=23.4:23.4:23.4:23.4[dB] cpl=FCC/ETSI pgcnt=238 temp=25
[000005.206 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16417 rx_delay=16417
[000005.209 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECA229121E05886
[000005.227 INF] mode: an (act,-)
[000005.228 INF] uwbmac: connected prof=3 (manual)
[000005.229 INF] uwbmac: bh disconnected
[000005.230 INF] cfg: sync=0 fwup=1 ble=1 leds=1 init=0 uab=1 bh=auto bh_stat=off cr=0 upd_rate_stat=30 label=ID5886
[000005.251 INF] enc: off
[000005.252 INF] ble: addr=FD:3F:4A:2F:BD:F0
leaps>

Anchor 4

mode: an
panid=x1234
prof=2

leaps> nps 3
nps: ok
leaps> nis 0x1234
nis: ok
leaps> nma

Low Energy Accurate Positioning System

Copyright :  2016-2025 LEAPS
License   :  Please visit https://www.leapslabs.com/leaps-rtls-license
Compiled  :  Oct 15 2026 09:42:20 (v1.2.1-4f9295)

Help      :  ? or help

FOR DEMO PURPOSE ONLY, NOT FOR SALE.
DEVICE RUNTIME IS LIMITED TO 48 HOURS. RESET THE DEVICE TO RECOVER IT.

leaps> si
[000022.082 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000022.083 INF] sys: main main_ver=x02070101 cfg_ver=x01040000 batt=empty:0mV:NoCharger board=LC14_B prod=LC14_B pwr_cnt=0 rst_cnt=2
[000022.084 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000022.085 INF] uwb: tx_pwr=x34/xEEEEEEEE sts:shr:phr:data=26.5:26.5:26.5:26.5[dB] cpl=FCC/ETSI pgcnt=245 temp=25
[000022.086 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16427 rx_delay=16427
[000022.088 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECA7A20DFE04F2E
[000022.106 INF] mode: an (act,-)
[000022.107 INF] uwbmac: connected prof=3 (manual)
[000022.108 INF] uwbmac: bh disconnected
[000022.109 INF] cfg: sync=0 fwup=1 ble=1 leds=1 init=0 uab=1 bh=auto bh_stat=off cr=0 upd_rate_stat=30 label=ID4F2E
[000022.131 INF] enc: off
[000022.132 INF] ble: addr=C8:D9:F3:F1:7D:CE
leaps>

Tag

mode: tn
panid=x1234
prof=3

leaps> nps 3
nps: ok
leaps> nis 0x1234
nis: ok
leaps> tcs mode 2
tcs: ok
leaps> urs 1 1
urs: ok
leaps> nmt


Low Energy Accurate Positioning System

Copyright :  2016-2025 LEAPS
License   :  Please visit https://www.leapslabs.com/leaps-rtls-license
Compiled  :  Oct 15 2026 09:42:20 (v1.2.1-4f9295)

Help      :  ? or help

FOR DEMO PURPOSE ONLY, NOT FOR SALE.
DEVICE RUNTIME IS LIMITED TO 48 HOURS. RESET THE DEVICE TO RECOVER IT.

leaps> si
[000017.201 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000017.202 INF] sys: main main_ver=x02070101 cfg_ver=x01040000 batt=empty:0mV:NoCharger board=LC14_B prod=LC14_B pwr_cnt=0 rst_cnt=2
[000017.203 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000017.204 INF] uwb: tx_pwr=x34/xC6C6C6C6 sts:shr:phr:data=22.6:22.6:22.6:22.6[dB] cpl=FCC/ETSI pgcnt=232 temp=25
[000017.205 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16425 rx_delay=16425
[000017.207 INF] uwb: panid=x1234(sys_cfg=x1234) panid_mask=xFFFF addr=xDECA2DA03CD01219
[000017.216 INF] mode: tn (act,rtdoa,np,le)
[000017.250 INF] uwbmac: connected prof=3 (manual)
[000017.250 INF] uwbmac: bh disconnected
[000017.251 INF] cfg: sync=0 fwup=1 ble=1 leds=1 le=1 lp=0 uab=1 stat_det=1 (sens=2) mode=2 upd_rate_norm=1 upd_rate_stat=1 label=ID1219
[000017.252 INF] enc: off
[000017.253 INF] ble: addr=CF:8F:04:42:CF:84
leaps>

Optional: To see a list of anchors in range and connected to the device, use the la command.

For example on an anchor 1:

leaps> la
[000981.289 INF] AN: cnt=4 seq=x0B
[000981.290 INF]     0) id=468D seat=0 clk_lvl=0 seens=0 rssi=-127 cl=0000000F nbr=0000000F pos=0.00:7.50:1.55 rate=0
[000981.291 INF]     1) id=4F2E seat=2 clk_lvl=1 seens=229 rssi=-55 cl=0000000F nbr=00000000 pos=0.00:4.00:1.55 rate=99
[000981.292 INF]     2) id=4F9E seat=1 clk_lvl=1 seens=22 rssi=-62 cl=0000000F nbr=00000000 pos=5.50:7.50:1.55 rate=100
[000981.293 INF]     3) id=5886 seat=3 clk_lvl=1 seens=76 rssi=-68 cl=0000000F nbr=00000000 pos=5.50:4.00:1.50 rate=99
[000981.295 INF]
leaps>

Once all configurations are complete, check the position of the Tag using the les command.

For example on a Tag, the position will update and display real-time:

leaps> les
leaps> POS[2.63,4.36,0.00,100] 468D[0.00,7.50,1.55,100]=0.00 4F9E[5.50,7.50,1.55,100]=0.12 5886[5.50,4.00,1.50,100]=-1.16 4F2E[0.00,4.00,1.55,100]=-1.49
POS[2.65,4.37,0.00,100] 468D[0.00,7.50,1.55,100]=0.00 4F9E[5.50,7.50,1.55,100]=0.08 5886[5.50,4.00,1.50,100]=-1.15 4F2E[0.00,4.00,1.55,100]=-1.50
POS[2.63,4.36,0.00,100] 468D[0.00,7.50,1.55,100]=0.00 4F9E[5.50,7.50,1.55,100]=0.12 5886[5.50,4.00,1.50,100]=-1.15 4F2E[0.00,4.00,1.55,100]=-1.50
POS[2.64,4.35,0.00,100] 468D[0.00,7.50,1.55,100]=0.00 4F9E[5.50,7.50,1.55,100]=0.10 5886[5.50,4.00,1.50,100]=-1.16 4F2E[0.00,4.00,1.55,100]=-1.52
POS[2.64,4.35,0.00,100] 468D[0.00,7.50,1.55,100]=0.00 4F9E[5.50,7.50,1.55,100]=0.09 5886[5.50,4.00,1.50,100]=-1.15 4F2E[0.00,4.00,1.55,100]=-1.53
POS[2.64,4.36,0.00,100] 468D[0.00,7.50,1.55,100]=0.00 4F9E[5.50,7.50,1.55,100]=0.10 5886[5.50,4.00,1.50,100]=-1.17 4F2E[0.00,4.00,1.55,100]=-1.51
POS[2.64,4.33,0.00,100] 468D[0.00,7.50,1.55,100]=0.00 4F9E[5.50,7.50,1.55,100]=0.10 5886[5.50,4.00,1.50,100]=-1.19 4F2E[0.00,4.00,1.55,100]=-1.53
...

Now the system has been successfully set up and configured the system. Enjoy using it!

Troubleshooting

Here are some tips for fixing some issues related to the installation process:

Please check the version. We recommend using the latest official version found under Releases.

When Bluetooth and the LEDs are both disabled, users may erroneously perceive the board as non-functional. In this scenario, the quickest solution is to perform a factory reset (frst) command via the shell.

Use the Reset devices to default feature in Demo Selector on the LEAPS Manager when you don’t know the current state of the devices. Refer to the following GIF Image.

Note

High-speed Downlink TDoA RTLS Demo location data will be sent through another communication channel.
For any comments or questions about our products, we encourage you to visit our LEAPS Forum.
For detail of known limitation and issue list, please refer section Releases.