Differences

This shows you the differences between two versions of the page.

--- doc:lps:tdoa3:protocol [2018-05-02 14:31]
kristoffer
+++ doc:lps:tdoa3:protocol [2019-09-05 14:45]
kimberly
@@ Line 1: / Line 1: @@
-====== TDoA Anchor protocol V3 (experimental) ======
-<WRAP center round tip 80%>
+<WRAP center round important 60%>
-**NOTE**
+This page is deprecated and is moved to the main Bitcraze website. Please go to:
-This is work in progress. The specifications on this page may change at any time without backwards compatibility.
+ [[
+https://www.bitcraze.io/docs/lps-node-firmware/master/tdoa3_protocol/
+]]
 </WRAP>
-This page describes the [[doc:lps:tdoa3|TDoA]] anchor protocol V3.
+====== TDoA Anchor protocol V3 ======
-===== System architecture =====
+===== Design goals =====
-The protocol is designed to be used with a large number of anchors covering a big area. Each anchor has a limited reach and covers only a small area, but by adding more anchors the system will be able to cover an (virtually) unlimited area. At any point in the covered area, 5-10 anchors should be within range of a Tag.
+The protocol is designed to be used with a large number of anchors covering a big area. Each anchor has a limited reach and covers only a small area, but by adding more anchors the system can cover an (virtually) unlimited area. At any point in the covered area, 5-10 anchors should be within range of a Tag.
 Each anchor knows its own position in a global coordinate system and broadcasts this information in time stamped packets that are used by one or more Tags to estimate their position.
@@ Line 20: / Line 21: @@
 ===== Packet scheduling =====
-Packets are transmitted at random times and collisions are handled by the system.
+Packets are transmitted at random times and collisions are handled by the receiving party.
 ===== Packet format =====
-There is only one packet format.
 <ditaa>
-              +--------+--------------------+
+                    +--------+--------------------+----------+
-Packet    :   | Header | Remote anchor data |
+Packet    :         | Header | Remote anchor data | LPP data |
-              +--------+--------------------+
+                    +--------+--------------------+----------+
 bytes
-               <------------------------------------------->
+                     <------------------------------------------->
 bits   8 bits     32 bits       8 bits
-               <------> <------> <-----------> <----------->
+                     <------> <------> <-----------> <----------->
-              +--------+--------+-------------+-------------+
+                    +--------+--------+-------------+-------------+
-Header    :   |  type  |  seq   | txTimeStamp | remoteCount |
+Header    :         |  type  |  seq   | txTimeStamp | remoteCount |
-              +--------+--------+-------------+-------------+
+                    +--------+--------+-------------+-------------+
@@ Line 44: / Line 43: @@
 bits      1 bit      7 bits     32 bits     0 or 16 bits
                      <------> <-----------> <------> <-----------> <------------>
-                    +--------+--------+-------------+-------------+--------------+
-Remote anchor data: |   id   | hasDistance |  seq   | rxTimeStamp |   distance   |
                     +--------+-------------+--------+-------------+--------------+
+Remote anchor data: |   id   | hasDistance |  seq   | rxTimeStamp |   distance   |
+                    +--------+-------------+--------+-------------+--------------+
 </ditaa>
-* Header
+  * **Header**
-  * type - 0x30
+    * **type:** 0x30
-  * seq - the sequence number of this packet 0 - 127
+    * **seq:** the sequence number of this packet 0 - 127
-  * txTimeStamp - transmission time of this packet
+    * **txTimeStamp:** transmission time of this packet
-  * remoteCount - the number of slots (max 8) in the following section that are populated with data
+    * **remoteCount:** the number of slots in the Remote Anchor Data section that are populated with data, max 8
-* Remote anchor data
+  * **Remote anchor data**
-  * id - the id of the remote anchor
+    * **id:** the id of the remote anchor
-  * hasDistance - 1 = distance data is included in the remote anchor data, total length is 8 bytes, otherwise it is 6 bytes.
+    * **hasDistance:** 1 = distance data is included in the remote anchor data, total length is 8 bytes, otherwise it is 6 bytes.
-  * seq - sequence number of latest packet received from the remote anchor 0 - 127
+    * **seq:** sequence number of latest packet received from the remote anchor 0 - 127
-  * rxTimeStamp - receive time stamp of latest packet from the remote anchor
+    * **rxTimeStamp:** receive time stamp of latest packet from the remote anchor
-  * distance - time of flight between the current anchor and the remote anchor in radio timer ticks
+    * **distance:** time of flight between the current anchor and the remote anchor in radio timer ticks
+  * **LPP data:** See [[doc:lps:lpp#lpp_short_packets|LPP short packet description]]
 ===== Tag implementation =====
-A TDoA tag is simply an UWB sniffer. A sniffer can use the data in the packets together with the packet receive timestamps to calculate its position.
+A TDoA tag is simply an UWB sniffer. A sniffer can use the data in the packets together with the timestamps when packets are received to calculate its position.
+===== Calculating TDoA =====
+[[doc:lps:tdoa:principles|Please see TDoA positioning principles]]

Bitcraze Wiki

User Tools

Site Tools

Differences

Page Tools