TWR RTLS 和数据遥测演示

准备设置

../../../_images/twr_rtls_and_data_telemetry_demo.png

  1. LEAPS Manager 应用程序已安装。

  2. 至少五个LC14设备。

  3. 用于为设备供电的电池或USB-C电缆。

  4. 推荐:带相机支架的夹子或三脚架，用于安装主播设备*

  5. 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。

  6. 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

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

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

  1. 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。

  1. 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:red:Demo Selector。

    2.2. 选择 TWR RTLS和数据遥测。

    2.3. 通过Bluetooth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。

../../../_images/twrrtlsanddatatelemetrydemo-manual.gif

  1. 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.

  1. 打开位于顶端下拉菜单的 Grid 网格，用于显示设备及其位置。

../../../_images/downlinktdoartlsdemo-2d.gif

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。

  1. 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。

../../../_images/leaps-connect-usb-port1.gif

  1. 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

  1. 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:

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>

  1. 为每个设备进行配置，请执行以下步骤:

  1. 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.

../../../_images/reset-command.gif

  1. Use the nps 2 command to configure profile 2 (supports TWR+UL / DL-Data, DL-TDoA) for each device.

$ leaps> nps 2
nps: ok

  1. 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。

  1. 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。

  1. 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:

leaps> ps 0 7500 1550
ps: ok
leaps> pg
pg: x:0 y:7500 z:1550 qf:100
leaps>

leaps> ps 5500 7500 1550
ps: ok
leaps> pg
pg: x:5500 y:7500 z:1550 qf:100
leaps>

leaps> ps 5500 4000 1500
ps: ok
leaps> pg
pg: x:5500 y:4000 z:1500 qf:100
leaps>

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.

  1. 每个标签的配置允许使用 TWR 技术进行测量。

  • To configure, use the tcs mode 0 command for a tag.

$ leaps> tcs mode 0
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

  1. 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

  1. 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：

  • mode: ani

  • panid=x1234

  • prof=2

leaps> nps 2
nps: ok
leaps> nis 0x1234
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
[000034.064 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000034.064 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
[000034.065 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000034.066 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
[000034.067 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16422 rx_delay=16422
[000034.070 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECAED5BC8B1468D
[000034.089 INF] mode: ani (act,real)
[000034.090 INF] uwbmac: connected prof=2 (manual)
[000034.090 INF] uwbmac: bh disconnected
[000034.091 INF] cfg: sync=0 fwup=1 ble=1 leds=1 init=1 uab=1 bh=auto bh_stat=off cr=0 upd_rate_stat=30 label=ID468D
[000034.112 INF] enc: off
[000034.113 INF] ble: addr=F3:D9:66:75:93:EB
leaps>

  • 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
[000070.732 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000070.732 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
[000070.733 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000070.734 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
[000070.735 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16423 rx_delay=16423
[000070.737 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECAE4F84AA54F9E
[000070.756 INF] mode: an (act,-)
[000070.756 INF] uwbmac: connected prof=2 (manual)
[000070.757 INF] uwbmac: bh disconnected
[000070.757 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
[000070.781 INF] enc: off
[000070.781 INF] ble: addr=D8:70:8B:16:3B:EE
leaps>

  • 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
[000107.113 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000107.114 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
[000107.114 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000107.116 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
[000107.117 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16417 rx_delay=16417
[000107.119 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECA229121E05886
[000107.138 INF] mode: an (act,-)
[000107.139 INF] uwbmac: connected prof=2 (manual)
[000107.139 INF] uwbmac: bh disconnected
[000107.140 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
[000107.162 INF] enc: off
[000107.163 INF] ble: addr=FD:3F:4A:2F:BD:F0
leaps>

  • 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
[000155.283 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000155.284 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
[000155.284 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000155.285 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
[000155.287 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16427 rx_delay=16427
[000155.289 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECA7A20DFE04F2E
[000155.307 INF] mode: an (act,-)
[000155.308 INF] uwbmac: connected prof=2 (manual)
[000155.309 INF] uwbmac: bh disconnected
[000155.309 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
[000155.331 INF] enc: off
[000155.332 INF] ble: addr=C8:D9:F3:F1:7D:CE
leaps>

  • By default configuration, the device will be in TWR mode. If it was in another mode, we would use the tcs mode 0 command.

  • mode: tn

  • panid=x1234

  • prof=2

leaps> nps 2
nps: ok
leaps> nis 0x1234
nis: ok
leaps> tcs mode 0
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
[000004.581 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[000004.581 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
[000004.582 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[000004.583 INF] uwb: tx_pwr=x34/xAEAEAEAE sts:shr:phr:data=20.3:20.3:20.3:20.3[dB] cpl=FCC/ETSI pgcnt=238 temp=25
[000004.584 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=39 tx_delay=16421 rx_delay=16421
[000004.586 INF] uwb: panid=x1234(sys_cfg=x1234) panid_mask=xFFFF addr=xDECA618912204500
[000004.595 INF] mode: tn (act,twr,np,le)
[000004.630 INF] uwbmac: connected prof=2 (manual)
[000004.630 INF] uwbmac: bh disconnected
[000004.631 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=ID4500
[000004.631 INF] enc: off
[000004.632 INF] ble: addr=D2:A9:B7:4C:BD:24
leaps>

  1. 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
[000681.346 INF] AN: cnt=4 seq=x03
[000681.347 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
[000681.347 INF]     1) id=4F2E seat=3 clk_lvl=1 seens=36 rssi=-55 cl=0000000F nbr=00000000 pos=0.00:4.00:1.55 rate=99
[000681.348 INF]     2) id=4F9E seat=1 clk_lvl=1 seens=5 rssi=-62 cl=0000000F nbr=00000000 pos=5.50:7.50:1.55 rate=99
[000681.349 INF]     3) id=5886 seat=2 clk_lvl=1 seens=163 rssi=-68 cl=0000000F nbr=00000000 pos=5.50:4.00:1.50 rate=99
[000681.350 INF]

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

例如在 Tag 上，位置会实时更新和显示：

$ leaps> les
leaps> POS[2.76,3.94,0.70,170] 5886[5.50,4.00,1.50,100]=2.87 4F2E[0.00,4.00,1.55,100]=2.88 4F9E[5.50,7.50,1.55,100]=4.56 468D[0.00,7.50,1.55,100]=4.60
POS[2.76,3.93,0.70,170] 5886[5.50,4.00,1.50,100]=2.87 4F2E[0.00,4.00,1.55,100]=2.88 4F9E[5.50,7.50,1.55,100]=4.58 468D[0.00,7.50,1.55,100]=4.60
POS[2.75,3.94,0.67,170] 5886[5.50,4.00,1.50,100]=2.87 4F2E[0.00,4.00,1.55,100]=2.89 4F9E[5.50,7.50,1.55,100]=4.58 468D[0.00,7.50,1.55,100]=4.59
POS[2.76,3.94,0.63,170] 5886[5.50,4.00,1.50,100]=2.88 4F2E[0.00,4.00,1.55,100]=2.91 4F9E[5.50,7.50,1.55,100]=4.58 468D[0.00,7.50,1.55,100]=4.60
POS[2.76,3.92,0.65,170] 5886[5.50,4.00,1.50,100]=2.87 4F2E[0.00,4.00,1.55,100]=2.91 4F9E[5.50,7.50,1.55,100]=4.59 468D[0.00,7.50,1.55,100]=4.62
POS[2.77,3.93,0.65,170] 5886[5.50,4.00,1.50,100]=2.87 4F2E[0.00,4.00,1.55,100]=2.90 4F9E[5.50,7.50,1.55,100]=4.57 468D[0.00,7.50,1.55,100]=4.62
POS[2.75,3.93,0.71,170] 5886[5.50,4.00,1.50,100]=2.87 4F2E[0.00,4.00,1.55,100]=2.87 4F9E[5.50,7.50,1.55,100]=4.57 468D[0.00,7.50,1.55,100]=4.60
...

此外，我们还可以使用 LEAPS Manager 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！

  1. 设置 LEAPS Raspberry Pi

    • 使用 LEAPS-RPI-IMAGE 安装所有 Raspberry Pis。

    • 每个对应的锚点连接到一个 Raspberry Pi，因此至少需要 4 个 Raspberry Pi。

    • 该镜像包含了 LEAPS Gateway, LEAPS Server, LEAPS Center 和 Mosquitto MQTT Broker 的设置和配置。

  2. 连接Raspberry Pis

    • 将所有 Raspberry Pis 连接到路由器，确保它们在同一个局域网内。

  3. LEAPS Server设置

    • 选择任何一台 Raspberry Pi 来运行 LEAPS Server，并检查其 IP 地址. 要获取 IP 地址，请使用 ifconfig 命令。

    例如

    ../../../_images/uplinktdoartlsdemo-ip-address.png

  4. 更新配置

    • Using the IP address of the chosen Raspberry Pi, update the leaps_server_host configuration in /home/leaps/leaps-docker-linux/leaps-gateway-hub/data/leaps-gateway.conf for all LEAPS Gateways on all Raspberry Pis.

    例如

    # LEAPS Server host
leaps_server_host = 192.168.1.8

    • 保存配置，并使用以下命令重启 LEAPS Gateway：

    sudo docker restart leaps_gateway

    • 然后，用以下命令重启 LEAPS Server：

    sudo docker restart leaps_server

  5. 监控系统

    • 网关准备就绪后，使用

    例如

    mosquitto_sub -h 192.168.1.8 -p 1883 -t '#' -v

  6. Configuring LEAPS Center

例如:打开网络浏览器并导航到 192.168.1.8/2

  • 这可以直接在 Raspberry Pi 上访问，或者在连接到由 Raspberry Pi 以 Leaps1234 密码广播的 LEAPS-AP 网络的 PC 上访问。

  • 如果在局域网中，你也可以使用另一台电脑的网页浏览器来访问 Raspberry Pi 的 IP 地址。

  1. 网络配置

  • In the LEAPS Center, configure the network settings to match the network ID of the gateway board you have connected.

../../../_images/docker_leaps_center_network.png

现在系统已经成功设置和配置。 祝您使用愉快！

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 上演示选择器中的 将设备重置为默认值 功能. 请参阅以下GIF图像。

../../../_images/reset-devices-to-defaul-x2.gif

快速启动 LEAPS Center

请参考软件基础架构，以进一步探索此演示的功能. 我们的支持包括 LEAPS Docker, LEAPS VMWare 和 LEAPS Raspberry Pi。

注解

  • 如果您对我们的产品有任何意见或问题，我们鼓励您访问我们的 LEAPS 论坛。

  • 有关已知限制和问题列表的详情，请参阅 发布 部分。