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doc:lps:tdoa3:protocol [2018-05-02 14:44] kristoffer |
doc:lps:tdoa3:protocol [2020-05-12 14:08] (current) kimberly |
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- | ====== TDoA Anchor protocol V3 (experimental) ====== | ||
- | <WRAP center round tip 80%> | + | <WRAP center round important 60%> |
- | **NOTE** | + | This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to [[https:// |
+ | </ | ||
- | This is work in progress. The specifications on this page may change at any time without backwards compatibility. | + | ====== 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 | + | 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 |
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. | 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. | ||
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===== Packet scheduling ===== | ===== 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 ===== | ===== Packet format ===== | ||
- | |||
- | There is only one packet format. | ||
< | < | ||
- | | + | |
- | Packet | + | Packet |
- | +--------+--------------------+----------+ | + | +--------+--------------------+----------+ |
7 bytes | 7 bytes | ||
- | < | + | < |
- | 8 bits 8 bits 32 bits 8 bits | + | 8 bits 8 bits 32 bits 8 bits |
- | | + | |
- | +--------+--------+-------------+-------------+ | + | +--------+--------+-------------+-------------+ |
- | Header | + | Header |
- | +--------+--------+-------------+-------------+ | + | +--------+--------+-------------+-------------+ |
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+--------+-------------+--------+-------------+--------------+ | +--------+-------------+--------+-------------+--------------+ | ||
Remote anchor data: | | Remote anchor data: | | ||
- | +--------+-------------+--------+-------------+--------------+ | + | +--------+-------------+--------+-------------+--------------+ |
- | + | ||
- | + | ||
- | LPP data: TBD | + | |
- | | + | |
</ | </ | ||
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* **rxTimeStamp: | * **rxTimeStamp: | ||
* **distance: | * **distance: | ||
+ | * **LPP data:** See [[doc: | ||
===== Tag implementation ===== | ===== Tag implementation ===== | ||
- | A TDoA tag is simply an UWB sniffer. A sniffer can use the data in the packets together with the packet receive | + | A TDoA tag is simply an UWB sniffer. A sniffer can use the data in the packets together with the timestamps |
+ | |||
+ | ===== Calculating TDoA ===== | ||
+ | |||
+ | [[doc: | ||