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--- doc:lps:tdoa3:protocol [2018-05-02 14:38]
kristoffer
+++ doc:lps:tdoa3:protocol [2020-05-12 14:08] (current)
kimberly
@@ Line 1: / Line 1: @@
-====== TDoA Anchor protocol V3 (experimental) ======
-<WRAP center round tip 80%>
-**NOTE**
-This is work in progress. The specifications on this page may change at any time without backwards compatibility.
+<WRAP center round important 60%>
+This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to [[https://www.bitcraze.io/documentation/system/]]
 </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 16: @@
 ===== 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 46: / Line 40: @@
                     +--------+-------------+--------+-------------+--------------+
 Remote anchor data: |   id   | hasDistance |  seq   | rxTimeStamp |   distance   |
                     +--------+-------------+--------+-------------+--------------+
 </ditaa>
@@ Line 60: / Line 54: @@
     * **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
+  * **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]]

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