上行链路 TDoA RTLS 演示

../../../_images/uplink_tdoa_rtls_demo.png

准备设置

LEAPS Manager 应用程序已安装。
一台Raspberry Pi 3B或更新版本，或一台用于安装数据服务器和网络应用程序的 PC。
至少五台LC14设备。
用于为设备供电的电池或USB-C电缆。
推荐：夹具或带相机支架的三脚架，用于安装主播设备
可选： Putty, Teraterm, minicom 或计算机上安装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

快速入门

概览

该设置展示了使用上行链路到达时间差 (UL-TDoA) 技术对标签进行高精度的实时追踪。

典型应用：资产和人员跟踪。

设置说明

Power ON 设备。

设备静态安装的设备将作为锚点，为标签提供位置信息。

移动设备将作为上行链路TDoA测量模式下配置的标签。

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。

选择上行链路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。

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 将设备配置为 LEAPS RTLS 模式，联网配置文件 5 (支持 UL-TDoA)。

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

Note: Auto positioning is currently not available for profile 5.

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.

打开位于顶端下拉菜单的 Grid 网格，用于显示设备及其位置。

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，例如 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 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 5 command to configure profile 5 (supports UL-TDoA) for each device.
$ leaps> nps 5
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**锚点和启用启动器**，3锚点，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，要再次进入命令行控制系统，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，要再次进入命令行控制系统，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，要再次进入命令行控制系统，请按双回车键。

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 UL-TDoA 技术进行测量。

To configure, use the tcs mode 1 command for a tag.
$ leaps> tcs mode 1
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 and, 8 can use the si (System Information) command to verify whether the mode, profile, and network configurations are correct.

例如在 4 个锚点和一个标签上：

Anchor 1 (role as an initiator)

mode: ani
panid=x1234
prof=5

leaps> nps 5
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
[001044.266 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[001044.266 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
[001044.267 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[001044.268 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
[001044.269 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16422 rx_delay=16422
[001044.271 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECAED5BC8B1468D
[001044.287 INF] mode: ani (act,real)
[001044.288 INF] uwbmac: connected prof=5 (manual)
[001044.288 INF] uwbmac: bh disconnected
[001044.315 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
[001044.315 INF] enc: off
[001044.315 INF] ble: addr=F3:D9:66:75:93:EB
leaps>

锚点 2

mode: an
panid=x1234
prof=5

leaps> nps 5
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
[001081.464 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[001081.465 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
[001081.466 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[001081.466 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
[001081.468 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16423 rx_delay=16423
[001081.470 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECAE4F84AA54F9E
[001081.483 INF] mode: an (act,-)
[001081.483 INF] uwbmac: connected prof=5 (manual)
[001081.513 INF] uwbmac: bh disconnected
[001081.513 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
[001081.514 INF] enc: off
[001081.514 INF] ble: addr=D8:70:8B:16:3B:EE
leaps>

锚点 3

mode: an
panid=x1234
prof=5

leaps> nps 5
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
[001086.042 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[001086.042 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
[001086.043 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[001086.044 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
[001086.045 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16417 rx_delay=16417
[001086.047 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECA229121E05886
[001086.053 INF] mode: an (act,-)
[001086.091 INF] uwbmac: connected prof=5 (manual)
[001086.091 INF] uwbmac: bh disconnected
[001086.092 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=ID5886
[001086.092 INF] enc: off
[001086.093 INF] ble: addr=FD:3F:4A:2F:BD:F0
leaps>

锚点 4

mode: an
panid=x1234
prof=5

leaps> nps 5
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
[001081.089 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[001081.090 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
[001081.091 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[001081.091 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
[001081.092 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=32 tx_delay=16427 rx_delay=16427
[001081.095 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECA7A20DFE04F2E
[001081.111 INF] mode: an (act,-)
[001081.111 INF] uwbmac: connected prof=5 (manual)
[001081.112 INF] uwbmac: bh disconnected
[001081.138 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
[001081.139 INF] enc: off
[001081.140 INF] ble: addr=C8:D9:F3:F1:7D:CE
leaps>

标签

By default configuration, the device will be in TWR mode. To configure it to UL-TDoA mode, use the tcs mode 1 command.
mode: tn
panid=x1234
prof=5

leaps> nps 5
nps: ok
leaps> nis 0x1234
nis: ok
leaps> tcs mode 1
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
[001602.920 INF] release: LEAPS RTLS v1.2.1-4f9295 (fira)
[001602.921 INF] sys: main main_ver=x02070101 cfg_ver=x01040000 batt=empty:0mV:NoCharger board=LC14_B prod=LC14_B pwr_cnt=0 rst_cnt=3
[001602.921 INF] uwb: ch9 prf64 plen128 pac8 txcode11 rxcode11 baud6800 phrmodeext phrratestd sfdtypeieee4a sfdto129 stsmodeoff stslen64 pdoamodem0
[001602.922 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
[001602.923 INF] uwb: lna=1 pa=0 rf1=1 rf2=0 xtaltrim=39 tx_delay=16421 rx_delay=16421
[001602.926 INF] uwb: panid=x1234 panid_mask=xFFFF zone=255 addr=xDECA618912204500
[001602.969 INF] mode: tn (act,tdoa,np,le)
[001602.970 INF] uwbmac: disconnected prof=5 (manual)
[001602.970 INF] uwbmac: bh disconnected
[001602.971 INF] cfg: sync=0 fwup=1 ble=1 leds=1 le=1 lp=0 uab=1 stat_det=1 (sens=2) mode=1 upd_rate_norm=1 upd_rate_stat=1 label=ID4500
[001602.971 INF] enc: off
[001602.972 INF] ble: addr=D2:A9:B7:4C:BD:24
leaps>

注解

Backhaul Configuration (bh and bh_stat)

The device defaults to the off state if no leaps gateway connection is detected.
Upon connection, the leaps gateway sends an immediate configuration request that automatically switches the device to the act state.

例如

[011451.027 INF] cfg: sync=1 fwup=1 ble=1 leds=1 init=1 uab=0 bh=on bh_stat=act cr=0 upd_rate_stat=30 label=ID468D

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
[001046.572 INF] AN: cnt=4 seq=x03
[001046.572 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
[001046.573 INF]     1) id=4F2E seat=3 clk_lvl=1 seens=252 rssi=-127 cl=0000000F nbr=00000000 pos=0.00:4.00:1.55 rate=100
[001046.574 INF]     2) id=4F9E seat=1 clk_lvl=1 seens=30 rssi=-127 cl=0000000F nbr=00000000 pos=5.50:7.50:1.55 rate=99
[001046.575 INF]     3) id=5886 seat=2 clk_lvl=1 seens=23 rssi=-127 cl=0000000F nbr=00000000 pos=5.50:4.00:1.50 rate=99
[001046.576 INF]

Besides, we can use the LEAPS Manager, to visualization of the devices and their positions.

故障排除

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.
这里有一些解决安装过程中相关问题的提示。
- Please check the version. We recommend using the latest official version found under 发布.
- 当你不知道设备的当前状态时，请在 LEAPS Manager 的演示选择器中使用将设备重置为默认值功能. 请参考下面的 GIF 图片。

Data flow:

When the tag blinks, the anchors receive blinks and send the TX/RX timestamps of blink to Leaps server via Leaps Gateway.

Leaps server uses the timestamps collected from Anchors to calculate Tag’s position and publish the position to MQTT broker.

基础架构设置

设备配置

As above, use LEAPS Manager in Quick Start or Shell in Advanced to configure the devices.

设置 Raspberry Pis

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。

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。

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。

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
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
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。

网络配置

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

现在系统已经成功设置并配置好了。请尽情使用！

注解

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