高速下行TDoA RTLS演示

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

准备设置

LEAPS Manager 应用程序。
至少五台LC14设备。
用于为设备供电的电池或USB-C电缆。
建议:带相机支架的夹具或三脚架，用于连接锚定装置
可选: Putty, Teratem, minicom或您最喜欢的安装在计算机上的终端应用程序

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

设置时间： 少于 5 分钟

快速入门

概述

此设置演示了使用下行链路到达时间差 (DL TDoA) 技术在仅接收模式下以完全隐私的方式对无限数量的标签进行高速实时导航。每个标签可以独立于其他标签提供高达50 Hz的位置，并通过标签位置导航演示LEAPS Manager应用程序。

典型应用:带地图的高速室内导航, 自主机器人和车辆导航，以及通过另一个通信信道发送位置数据的资产跟踪。

设置说明

Power ON 设备。

静态安装的设备将作为锚点，为标签提供位置信息。

移动设备将仅在接收模式下作为导航模式下配置的标签运行，不进行传输（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，从主页中选择演示选择器。

2.2. 选择高速下行链路TDoA RTLS。

2.3。通过Bluetooth发现的设备列表将显示在列表中。如果需要，向下滑动以更新列表。

选择将用于演示的设备。顶部的锚点和标签表示演示所需的设备。

2.5.按 SAVE 将设备配置为LEAPS RTLS模式，联网配置文件3（支持高速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, 自动定位或保持当前位置，然后按 OK。

2.7. 请目视检查设备启动时 RED LED 是否闪烁。

成功配置设备后，将出现LEAPS演示网络窗口，其中包含已配置节点的列表。

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,用于可视化设备及其位置。

将 LEAPS Manager 配置为配置文件3 (support High-Speed DL-TDoA) 但处于自动状态. 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与网络的更多细节。

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. 我们需要配置波特率为 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 并按下双击回车键:

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 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

注解

在这个例子里，我们将配置一个 锚，启用启动器，3个锚，以及 一个标签。

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 0.02 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.

例如 4 个锚点和一个标签：

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>

锚点 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>

锚点 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>

锚点 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>

标签

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
...

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.

当您不知道设备的当前状态时，请使用 LEAPS Manager 演示选择器中的 Reset devices to default 功能. 请参考下面的 GIF 图片。

注解

高速下行 TDoA RTLS Demo 位置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。