下行 TDoA RTLS 演示

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

准备设置

LEAPS Manager 应用程序已安装。
至少五个LC14设备。
为设备供电的电池或USB-C电缆。
推荐:带相机固定装置的夹子或三脚架，用于固定主播设备
在电脑上安装 Putty, Teraterm, minicom 或你喜欢的终端应用程序

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

设置时间： 少于 5 分钟

快速入门

概览

此设置演示了使用下行链路到达时间差(DL-TDoA) 技术，在完全保密的只接收模式下，对无限量的标签进行实时导航，并演示了带有标签位置导航功能的 LEAPS Manager 应用程序。

典型应用:带有地图的室内导航, 自主机器人和车辆导航, 通过其他通信渠道发送位置数据的资产追踪。

设置说明

启动 ON 设备。

静态安装的设备将作为锚点，为标签提供位置信息。

移动设备的功能将与导航模式下配置的标签一样，只有接收模式，没有传输模式 (类似 GNSS 模式)

标签的数量没有限制。

使用 LEAPS Manager 中的演示选择器进行配置:

2.1. 打开 LEAPS Manager，从主页面选择 Demo Selector

2.2. 选择 Downlink TDoA RTLS。

2.3. 通过Bluetooth发现的设备列表将出现在列表中.如有需要，向下滑动以更新列表。

2.4. 选择用于演示的设备.顶部的 anchors 和 tags 显示演示所需的设备数量。

2.5. 按 SAVE 键，将设备配置为 LEAPS RTLS 模式，联网配置文件2（支持 TWR+UL / DL-Data, DL-TDoA）。

2.6。将出现一个弹出窗口“锚点配置”，提供配置锚点位置的选项。根据需要选择手动定位, 自动定位或保持当前位置，然后按下确定。

2.7. 请目测设备启动时 RED LED 是否闪烁。

当设备配置成功后，LEAPS演示网络窗口会出现已配置节点的列表。

Recommended: Use the alarm feature to identify the device, and move it to the correct physical location.

打开位于顶部下拉菜单的 Grid 或点击位置图标，以查看设备及其位置。

配置为配置文件2 (支持 TWR+UL / DL-Data, DL-TDoA) 的 LEAPS Manager 处于自动状态. 因此，我们可以在地图上看到标签的坐标。

请参阅 LEAPS Manager，了解如何使用应用程序来配置和可视化节点和网络。

高级

高级设置

准备好进行高级设置！我们将利用终端的强大功能，帮助你像专业人士一样配置你的设备。只需按照以下步骤，你就能完成所有设置。

使用 USB-C 数据线将设备的 USB-C Data Port 1 或 USB-C Data Port 2 连接到 PC。

使用你想要的终端应用程序，如 Putty, Teraterm, Minicom 或你最喜欢的终端应用程序，连接到串行端口. 我们需要将波特率设置为 115200。

例如在, Ubuntu (Linux) 上使用 Minicom:
minicom -b 115200 -D /dev/ttyACM0

在 shell 控制台按下双输入访问命令行控制系统

例如，在 Ubuntu (Linux) 上打开 /dev/ttyACM0，然后按双击回车键 :

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>

为每个设备进行配置，请执行以下步骤:

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 2 command to configure profile 2 (supports TWR+UL / DL-Data, DL-TDoA) for each device.
$ leaps> nps 2
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 need to reset the device to update the configuration. Use the reset command to reset the device.
$ leaps> reset
reset ok

注解

在本例中，我们将配置一个 锚点，并启用启动器, 3锚点 和 一标签。

为每个锚点和标签配置模式。

To configure an anchor with enable initiator, use the nmi command to configure a device.
$ leaps> nmi
然后，设备将重置，要再次访问命令行控制系统，请按双回车键。
To configure 3 anchors, use the nma command to configure 3 devices to anchor mode, but do not enable initiator.
$ leaps> nma
然后，设备将重置，要再次访问命令行控制系统，请按双回车键。
To configure a tag, use the nmt command to configure a device to tag mode
$ leaps> nmt
然后，设备将重置，要再次访问命令行控制系统，请按双回车键。

为其中一个锚点配置时钟基准。

至少配置了一个锚点。
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

配置每个锚点的实际位置。

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>
锚点 2
leaps> ps 5500 7500 1550
ps: ok
leaps> pg
pg: x:5500 y:7500 z:1550 qf:100
leaps>
锚点 3
leaps> ps 5500 4000 1500
ps: ok
leaps> pg
pg: x:5500 y:4000 z:1500 qf:100
leaps>
锚点 4
leaps> ps 0 4000 1550
ps: ok
leaps> pg
pg: x:0 y:4000 z:1550 qf:100
leaps>
注解

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.

每个标签的配置允许使用 DL-TDoA 技术进行测量。

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 0.1 s/ 10 Hz and stationary update rate is 5.0 s/ 0.2 Hz. To increase speed, use urs command.

For example, configure normal update rate to 0.1 s/ 10 Hz and, stationary update rate is 0.1 s/ 10 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.

例如 4 锚点和一个标签：

Anchor 1 (role as an initiator)

mode: ani
panid=x1234
prof=2
cr=1

leaps> nps 2
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
[000013.974 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000013.975 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
[000013.976 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000013.976 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
[000013.977 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16422 rx_delay=16422
[000013.980 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECAED5BC8B1468D
[000013.998 INF] mode: ani (act,-)
[000013.999 INF] uwbmac: connected prof=2 (manual)
[000013.999 INF] uwbmac: bh disconnected
[000014.000 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
[000014.023 INF] enc: off
[000014.024 INF] ble: addr=F3:D9:66:75:93:EB
leaps>

锚点 2

mode: an
panid=x1234
prof=2

leaps> nps 2
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
[000010.749 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000010.750 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
[000010.751 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000010.751 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
[000010.752 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16423 rx_delay=16423
[000010.755 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECAE4F84AA54F9E
[000010.770 INF] mode: an (act,-)
[000010.771 INF] uwbmac: connected prof=2 (manual)
[000010.771 INF] uwbmac: bh disconnected
[000010.798 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
[000010.798 INF] enc: off
[000010.798 INF] ble: addr=D8:70:8B:16:3B:EE
leaps>

锚点 3

mode: an
panid=x1234
prof=2

leaps> nps 2
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
[000005.120 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000005.120 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
[000005.121 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000005.122 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
[000005.123 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16417 rx_delay=16417
[000005.126 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECA229121E05886
[000005.140 INF] mode: an (act,-)
[000005.141 INF] uwbmac: connected prof=2 (manual)
[000005.142 INF] uwbmac: bh disconnected
[000005.169 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
[000005.169 INF] enc: off
[000005.170 INF] ble: addr=FD:3F:4A:2F:BD:F0
leaps>

锚点 4

mode: an
panid=x1234
prof=2

leaps> nps 2
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
[000010.064 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000010.064 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
[000010.066 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000010.067 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
[000010.068 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16427 rx_delay=16427
[000010.070 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECA7A20DFE04F2E
[000010.090 INF] mode: an (act,-)
[000010.091 INF] uwbmac: connected prof=2 (manual)
[000010.091 INF] uwbmac: bh disconnected
[000010.092 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
[000010.113 INF] enc: off
[000010.114 INF] ble: addr=C8:D9:F3:F1:7D:CE
leaps>

标签

mode: tn
panid=x1234
prof=2

leaps> nps 2
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
[000081.906 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000081.906 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
[000081.907 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000081.908 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
[000081.909 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16425 rx_delay=16425
[000081.912 INF] uwb: panid=x1234(sys_cfg=x1234) panid_mask=xFFFF addr=xDECA2DA03CD01219
[000081.928 INF] mode: tn (act,rtdoa,np,le)
[000081.929 INF] uwbmac: connected prof=2 (manual)
[000081.929 INF] uwbmac: bh disconnected
[000081.955 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
[000081.956 INF] enc: off
[000081.956 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:

leaps> la
[000102.972 INF] AN: cnt=4 seq=x09
[000102.973 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
[000102.973 INF]     1) id=4F2E seat=2 clk_lvl=1 seens=162 rssi=-55 cl=0000000F nbr=00000000 pos=0.00:4.00:1.55 rate=98
[000102.974 INF]     2) id=4F9E seat=1 clk_lvl=1 seens=181 rssi=-63 cl=0000000F nbr=00000000 pos=5.50:7.50:1.55 rate=99
[000102.975 INF]     3) id=5886 seat=3 clk_lvl=1 seens=128 rssi=-68 cl=0000000F nbr=00000000 pos=5.50:4.00:1.50 rate=99
[000102.976 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[2.66,4.36,0.00,100] 468D[0.00,7.50,1.55,100]=0.00 4F9E[5.50,7.50,1.55,100]=0.09 4F2E[0.00,4.00,1.55,100]=-1.47 5886[5.50,4.00,1.50,100]=-1.22
POS[2.65,4.36,0.00,100] 468D[0.00,7.50,1.55,100]=0.00 4F9E[5.50,7.50,1.55,100]=0.11 4F2E[0.00,4.00,1.55,100]=-1.46 5886[5.50,4.00,1.50,100]=-1.20
POS[2.66,4.33,0.00,100] 468D[0.00,7.50,1.55,100]=0.00 4F9E[5.50,7.50,1.55,100]=0.10 4F2E[0.00,4.00,1.55,100]=-1.50 5886[5.50,4.00,1.50,100]=-1.23
POS[2.66,4.33,0.00,100] 468D[0.00,7.50,1.55,100]=0.00 4F9E[5.50,7.50,1.55,100]=0.10 4F2E[0.00,4.00,1.55,100]=-1.50 5886[5.50,4.00,1.50,100]=-1.24
POS[2.65,4.35,0.00,100] 468D[0.00,7.50,1.55,100]=0.00 4F9E[5.50,7.50,1.55,100]=0.12 4F2E[0.00,4.00,1.55,100]=-1.48 5886[5.50,4.00,1.50,100]=-1.21
POS[2.65,4.36,0.00,100] 468D[0.00,7.50,1.55,100]=0.00 4F9E[5.50,7.50,1.55,100]=0.11 4F2E[0.00,4.00,1.55,100]=-1.47 5886[5.50,4.00,1.50,100]=-1.21
...

现在系统已经成功设置和配置。祝您使用愉快！

故障排除

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 发布.

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.

当你不知道设备的当前状态时，请使用 LEAPS Manager 演示选择器中的将设备重置为默认值功能. 请参考下面的 GIF 图片。

注解

下行 TDoA RTLS Demo 定位数据将通过另一个通信通道发送。
如果您对我们的产品有任何意见或问题，请访问我们的 LEAPS 论坛。
有关已知限制和问题列表的详情，请参阅发布部分。