TWR RTLS 和数据遥测演示
准备设置

LEAPS 管理器 应用程序已安装.
至少五个LC14设备.
用于为设备供电的电池或USB-C电缆.
推荐:带相机支架的夹子或三脚架,用于安装主播设备*
建议使用一台Raspberry Pi 3B或更新版本,或者一台 PC, 数据服务器和网络应用程序安装.
可选: Putty, Teraterm, minicom或安装在计算机上的您最喜欢的终端应用程序
设置时间: 少于 5 分钟
概览
此设置演示了使用 双向测距 (TWR) 技术的实时导航, 跟踪和双向数据遥测. 它演示了使用DL TDoA技术对无限数量的标签进行实时导航.
典型应用:室内导航, 资产追踪和实时数据遥测,支持上行和下行链路.
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.
移动设备将作为配置为双向测距测量模式的标签.
使用 LEAPS 管理器 中的演示选择器进行配置:
2.1.打开 LEAPS 管理器,从主页面选择:red:Demo Selector.
2.2. 选择 TWR RTLS和数据遥测.
2.3. 通过蓝牙发现的设备列表会出现在列表上. 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 表示演示所需的设备数量.
2.5. 按下 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, 自动定位 或 保持当前位置,然后按 OK.
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.
推荐使用:使用警报功能来识别设备,并将其移动到正确的物理位置
打开位于顶端下拉菜单的 Grid 网格,用于显示设备及其位置.
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 double enter:
minicom -b 115200 -D /dev/ttyACM0 Welcome to minicom 2.7.1 OPTIONS: I18n Compiled on Dec 23 2019, 02:06:26. Port /dev/ttyACM0, 16:02:57 Press CTRL-A Z for help on special keys Low Energy Accurate Positioning System FOR DEMO PURPOSE ONLY, NOT FOR SALE. Copyright : 2016-2023 LEAPS License : Please visit https://www.leapslabs.com/leaps-rtls-license Compiled : Jan 6 2024 09:38:07 (v0.15.0-ab84fb) Help : ? or help leaps>
为每个设备进行配置,请执行以下步骤:
将设备重置为默认设置,运行 frst 命令. (可选)
$ leaps> frst frst ok![]()
(监控并等待设备重置成功. 然后按下双回车键,进入命令行控制系统.)
使用 nps 2 命令为每个设备配置 配置文件 2 (支持 TWR+UL / DL-Data, DL-TDoA).
$ leaps> nps 2 nps: ok
使用 nis 命令来配置网络中的所有设备.
$ leaps> nis 0x1234 nis: ok
然后,需要重置设备以更新配置. 使用 reset 命令来重置设备.
$ 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**一个标签.
为每个锚点和标签配置模式.
要配置 anchor with enable initiator,请使用 nmi 命令配置设备.
$ 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.
要配置 3 anchors,请使用 nma 命令将 3 台设备配置为锚点模式,但不要启用启动器.
$ 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.
要配置 a tag,使用 nmt 命令将一个设备配置为标签模式.
$ 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.
要配置 带有启用时钟参考的锚点,请使用命令 acs cr 配置设备.
$ leaps> acs cr 1然后,需要重置设备. 需要重置设备以更新配置. 使用 reset 命令重置设备.
$ leaps> reset reset ok
配置每个锚点的实际位置.
要获取位置,请使用 pg 命令,要为每个锚点设置位置,请为每个锚点使用 ps 命令.
在这个例子中,我们将配置4个锚,它们相距1米,排列成方形:
leaps> ps 1000 1000 0 ps: ok leaps> pg pg: x:1000 y:1000 z:0 qf:100 leaps>leaps> ps 0 0 0 ps: ok leaps> pg pg: x:0 y:0 z:0 qf:100 leaps>leaps> ps 1000 0 0 ps: ok leaps> pg pg: x:1000 y:0 z:0 qf:100 leaps>leaps> ps 0 1000 0 ps: ok leaps> pg pg: x:0 y:1000 z:0 qf:100 leaps>
成功配置锚点后,将其移动到相距 1 米的正确物理位置.
每个标签的配置允许使用 TWR 技术进行测量.
使用 tcs mode 0 命令对标签进行配置.
$ leaps> tcs mode 0 tcs: ok
然后,需要重置设备以更新配置. 使用 reset 命令来重置设备.
$ leaps> reset reset ok
默认情况下 normal update rate 为 0.1s/ 10Hz,stationary update rate 为 5.0s/ 0.2Hz. 要提高速度,请使用 urs 命令.
例如,配置 normal update rate 为0.1s/ 10Hz,而 stationary update rate 为0.1s/ 10Hz. 运行以下命令:
$ leaps> urs 1 1 urs: ok
在步骤 5, 6, 7 和 8 中,可以使用 si 命令来验证模式, 配置文件和网络配置是否正确. (可选)
例如 4 个锚点和一个标签:
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 FOR DEMO PURPOSE ONLY, NOT FOR SALE. Copyright : 2016-2023 LEAPS License : Please visit https://www.leapslabs.com/leaps-rtls-license Compiled : Jan 6 2024 09:38:07 (v0.15.0-ab84fb) Help : ? or help leaps>si [000011.796 INF] release: LEAPS RTLS v0.15.0-ab84fb [000011.796 INF] sys: main main_ver=x02000001 cfg_ver=x01040000 batt=none board=LC14_B [000011.796 INF] uwb: ch9 prf64 plen128 pac8 txcode9 rxcode9 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0 [000011.797 INF] uwb: tx_pwr=x34/xFAFAFAFA sts:shr:phr:data=27.7:27.7:27.7:27.7[dB] cpl=FCC/ETSI pgcnt=234 temp=25 [000011.797 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=27 tx_delay=16438 rx_delay=16438 [000011.798 INF] uwb: panid=x1234 addr=xDECA0E27530083A2 [000011.801 INF] mode: ani (act,real) [000011.813 INF] uwbmac: connected prof=2 (manual) [000011.813 INF] uwbmac: bh disconnected [000011.813 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=ID83A2 [000011.845 INF] enc: off [000011.845 INF] ble: addr=F8:64:22:75:6C:F7 leaps>
mode: an
panid=x1234
prof=2
leaps> nps 2 nps: ok leaps> nis 0x1234 nis: ok leaps> nma Low Energy Accurate Positioning System FOR DEMO PURPOSE ONLY, NOT FOR SALE. Copyright : 2016-2023 LEAPS License : Please visit https://www.leapslabs.com/leaps-rtls-license Compiled : Jan 6 2024 09:38:07 (v0.15.0-ab84fb) Help : ? or help leaps>si [000014.484 INF] release: LEAPS RTLS v0.15.0-ab84fb [000014.484 INF] sys: main main_ver=x02000001 cfg_ver=x01040000 batt=none board=LC14_B [000014.485 INF] uwb: ch9 prf64 plen128 pac8 txcode9 rxcode9 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0 [000014.485 INF] uwb: tx_pwr=x34/xE6E6E6E6 sts:shr:phr:data=25.8:25.8:25.8:25.8[dB] cpl=FCC/ETSI pgcnt=233 temp=25 [000014.486 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16438 rx_delay=16438 [000014.486 INF] uwb: panid=x1234 addr=xDECA9DD29FD0CBBB [000014.490 INF] mode: an (act,-) [000014.502 INF] uwbmac: connected prof=2 (manual) [000014.502 INF] uwbmac: bh disconnected [000014.502 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=IDCBBB [000014.532 INF] enc: off [000014.532 INF] ble: addr=E6:92:A3:6B:05:21 leaps>
mode: an
panid=x1234
prof=2
leaps> nps 2 nps: ok leaps> nis 0x1234 nis: ok leaps> nma Low Energy Accurate Positioning System FOR DEMO PURPOSE ONLY, NOT FOR SALE. Copyright : 2016-2023 LEAPS License : Please visit https://www.leapslabs.com/leaps-rtls-license Compiled : Jan 6 2024 09:38:07 (v0.15.0-ab84fb) Help : ? or help leaps> si [000007.647 INF] release: LEAPS RTLS v0.15.0-ab84fb [000007.647 INF] sys: main main_ver=x02000001 cfg_ver=x01040000 batt=42%:1785mV:discharging board=LC14_B [000007.648 INF] uwb: ch9 prf64 plen128 pac8 txcode9 rxcode9 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0 [000007.648 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 [000007.649 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16436 rx_delay=16436 [000007.649 INF] uwb: panid=x1234 addr=xDECA7A20DFE04F2E [000007.667 INF] mode: an (act,-) [000007.668 INF] uwbmac: connected prof=2 (manual) [000007.668 INF] uwbmac: bh disconnected [000007.668 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 [000007.692 INF] enc: off [000007.692 INF] ble: addr=C8:D9:F3:F1:7D:CE leaps>
mode: an
panid=x1234
prof=2
leaps> nps 2 nps: ok leaps> nis 0x1234 nis: ok leaps> nma Low Energy Accurate Positioning System FOR DEMO PURPOSE ONLY, NOT FOR SALE. Copyright : 2016-2023 LEAPS License : Please visit https://www.leapslabs.com/leaps-rtls-license Compiled : Jan 6 2024 09:38:07 (v0.15.0-ab84fb) Help : ? or help leaps> si [000027.150 INF] release: LEAPS RTLS v0.15.0-ab84fb [000027.150 INF] sys: main main_ver=x02000001 cfg_ver=x01040000 batt=none board=LC14_B [000027.151 INF] uwb: ch9 prf64 plen128 pac8 txcode9 rxcode9 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0 [000027.151 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 [000027.152 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16431 rx_delay=16431 [000027.152 INF] uwb: panid=x1234 addr=xDECAED5BC8B1468D [000027.155 INF] mode: an (act,-) [000027.170 INF] uwbmac: connected prof=2 (manual) [000027.170 INF] uwbmac: bh disconnected [000027.170 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=ID468D [000027.199 INF] enc: off [000027.199 INF] ble: addr=F3:D9:66:75:93:EB leaps>
根据默认配置,设备将处于 TWR mode 模式. 如果处于其他模式,我们将使用 tcs mode 0 命令.
mode: tn
panid=x1234
prof=2
leaps> nps 2 nps: ok leaps> nis 0x1234 nis: ok leaps> nmt Low Energy Accurate Positioning System FOR DEMO PURPOSE ONLY, NOT FOR SALE. Copyright : 2016-2023 LEAPS License : Please visit https://www.leapslabs.com/leaps-rtls-license Compiled : Jan 6 2024 09:38:07 (v0.15.0-ab84fb) Help : ? or help leaps> urs 1 1 urs: ok leaps> si [000010.225 INF] release: LEAPS RTLS v0.15.0-ab84fb [000010.225 INF] sys: main main_ver=x02000001 cfg_ver=x01040000 batt=none board=LC14_B [000010.226 INF] uwb: ch9 prf64 plen128 pac8 txcode9 rxcode9 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0 [000010.226 INF] uwb: tx_pwr=x34/xB6B6B6B6 sts:shr:phr:data=21.1:21.1:21.1:21.1[dB] cpl=FCC/ETSI pgcnt=231 temp=25 [000010.226 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=43 tx_delay=16434 rx_delay=16434 [000010.227 INF] uwb: panid=x1234 addr=xDECA80CB2C558A11 [000010.230 INF] mode: tn (act,twr,np,le) [000010.246 INF] uwbmac: connected prof=2 (manual) [000010.246 INF] uwbmac: bh disconnected [000010.247 INF] cfg: sync=0 fwup=1 ble=1 leds=1 le=1 lp=0 uab=1 stat_det=1 (sens=2) mode=0 upd_rate_norm=1 upd_rate_stat=1 label=ID8A11 [000010.274 INF] enc: off [000010.274 INF] ble: addr=E8:BB:0A:C9:93:4E leaps>
要查看范围内并连接到设备本身的锚点列表,请使用 la 命令. (可选)
例如在锚点 1 上(启用启动器):
leaps> la [000025.454 INF] AN: cnt=4 seq=x03 [000025.454 INF] 0) id=83A2 seat=0 clk_lvl=0 seens=0 rssi=-127 cl=0000000F nbr=0000000F pos=1.00:1.00:0.00 [000025.454 INF] 1) id=468D seat=2 clk_lvl=1 seens=81 rssi=-55 cl=0000000F nbr=00000000 pos=0.00:1.00:0.00 [000025.455 INF] 2) id=4F2E seat=3 clk_lvl=1 seens=67 rssi=-55 cl=0000000F nbr=00000000 pos=1.00:0.00:0.00 [000025.455 INF] 3) id=CBBB seat=1 clk_lvl=1 seens=111 rssi=-55 cl=0000000F nbr=00000000 pos=0.00:0.00:0.00 [000025.456 INF]
完成所有配置后. 打开标签的 shell 控制台,使用 les 命令查看标签位置.
例如在 Tag 上,位置会实时更新和显示:
$ leaps> les leaps> POS[0.34,0.18,0.70,50] CBBB[0.00,0.00,0.00,100]=0.79 4F2E[1.00,0.00,0.00,100]=0.98 468D[0.00,1.00,0.00,100]=1.12 83A2[1.00,1.00,0.00,100]=0.87 POS[0.34,0.19,0.71,50] CBBB[0.00,0.00,0.00,100]=0.81 4F2E[1.00,0.00,0.00,100]=0.99 468D[0.00,1.00,0.00,100]=1.13 83A2[1.00,1.00,0.00,100]=0.87 POS[0.34,0.20,0.70,49] CBBB[0.00,0.00,0.00,100]=0.81 4F2E[1.00,0.00,0.00,100]=0.98 468D[0.00,1.00,0.00,100]=1.12 83A2[1.00,1.00,0.00,100]=0.87 POS[0.35,0.23,0.73,50] CBBB[0.00,0.00,0.00,100]=0.84 4F2E[1.00,0.00,0.00,100]=1.00 468D[0.00,1.00,0.00,100]=1.12 83A2[1.00,1.00,0.00,100]=0.87 POS[0.36,0.22,0.74,51] CBBB[0.00,0.00,0.00,100]=0.85 4F2E[1.00,0.00,0.00,100]=1.00 468D[0.00,1.00,0.00,100]=1.13 83A2[1.00,1.00,0.00,100]=0.88 POS[0.37,0.22,0.74,52] CBBB[0.00,0.00,0.00,100]=0.85 4F2E[1.00,0.00,0.00,100]=1.00 468D[0.00,1.00,0.00,100]=1.13 83A2[1.00,1.00,0.00,100]=0.90 POS[0.37,0.22,0.73,52] CBBB[0.00,0.00,0.00,100]=0.85 4F2E[1.00,0.00,0.00,100]=0.99 468D[0.00,1.00,0.00,100]=1.13 83A2[1.00,1.00,0.00,100]=0.88 POS[0.36,0.21,0.73,51] CBBB[0.00,0.00,0.00,100]=0.84 4F2E[1.00,0.00,0.00,100]=0.99 468D[0.00,1.00,0.00,100]=1.13 83A2[1.00,1.00,0.00,100]=0.89 POS[0.33,0.21,0.73,51] CBBB[0.00,0.00,0.00,100]=0.83 4F2E[1.00,0.00,0.00,100]=1.02 468D[0.00,1.00,0.00,100]=1.12 83A2[1.00,1.00,0.00,100]=0.89 POS[0.33,0.20,0.72,50] CBBB[0.00,0.00,0.00,100]=0.81 4F2E[1.00,0.00,0.00,100]=1.00 468D[0.00,1.00,0.00,100]=1.12 83A2[1.00,1.00,0.00,100]=0.91 POS[0.34,0.22,0.72,50] CBBB[0.00,0.00,0.00,100]=0.83 4F2E[1.00,0.00,0.00,100]=1.00 468D[0.00,1.00,0.00,100]=1.11 83A2[1.00,1.00,0.00,100]=0.92 POS[0.36,0.22,0.71,50] CBBB[0.00,0.00,0.00,100]=0.83 4F2E[1.00,0.00,0.00,100]=0.98 468D[0.00,1.00,0.00,100]=1.12 83A2[1.00,1.00,0.00,100]=0.91 ...
此外,我们还可以使用 LEAPS 管理器 来可视化设备及其位置.
现在系统已经成功设置和配置. 祝您使用愉快!
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