Issues with UWB network

Hello,

We are having some issues regarding the anchor’s synchronization in an industrial environment. We are using the DWM1001 modules in a custom hardware with the PANS2 firmware. The physical setup is as follows:

ANC ADDR pos_x pos_y pos_z
D1A2 0 0 9,11
CE95 0 19,73 9,11
D1A8 21,12 -9,88 9,01
CE19 -31,02 -4,93 8,14
4D39 21,12 10,58 9,01
1303 -31,02 4,26 6,83

We are able to access the UART shell for debugging and we have the following logs regarding each anchor:

si
[194673.990 INF] sys: fw2 fw_ver=x01030001 cfg_ver=x00010700
[194673.990 INF] uwb0: panid=xF2F9 addr=xDECA9E957313CE95
[194674.000 INF] mode: an (act,-)
[194674.000 INF] uwbmac: disconnected
[194674.000 INF] uwbmac: bh disconnected
[194674.010 INF] cfg: sync=0 fwup=1 ble=1 leds=1 init=0 upd_rate_stat=120 label=DWCE95
[194674.010 INF] enc: off
[194674.020 INF] ble: addr=E6:2F:05:19:31:1B
dwm>

stg
uptime: 194778
rtc_drift: 0.000000
ble_con_ok: 0
ble_dis_ok: 0
ble_err: 0
api_err: 0
api_err_cnt: 0
api_dl_cnt: 0
uwb0_intr: 1773346
uwb0_rst: 53742
uwb0_bpc: 1
rx_ok: 1773347
rx_err: 0
tx_err: 0
tx_errx: 0
bcn_tx_ok: 0
bcn_tx_err: 0
bcn_rx_ok: 0
alma_tx_ok: 0
alma_tx_err: 0
alma_rx_ok: 0
cl_rx_ok: 0
cl_tx_ok: 0
cl_coll: 0
fwup_tx_ok: 0
fwup_tx_err: 0
fwup_rx_ok: 0
svc_tx_ok: 0
svc_tx_err: 0
svc_rx_ok: 0
clk_sync: 0
bh_rt: 0
bh_nort: 0
bh_ev: 0
bh_buf_lost[0]: 0
bh_buf_lost[1]: 0
bh_tx_err: 0
bh_dl_err: 0
bh_dl_ok: 0
bh_ul_err: 0
bh_ul_ok: 0
fw_dl_tx_err: 0
fw_dl_iot_ok: 0
fw_ul_loc_ok: 0
fw_ul_iot_ok: 0
ul_tx_err: 0
dl_iot_ok: 0
ul_loc_ok: 0
ul_iot_ok: 0
enc_err: 0
reinit: 21199
twr_ok: 0
twr_err: 0
res[0]: 0 x00000000
res[1]: 1 x00000001
res[2]: 0 x00000000
res[3]: 0 x00000000
res[4]: 0 x00000000
res[5]: 0 x00000000
tot_err: 0
dwm>

tlv 12 0
OUTPUT FRAME:
40 01 00 41 0d 00 00 00 00 12 4d 00 00 96 23 00 00 64 48 01
00
dwm>

tlv 12 0
OUTPUT FRAME:
40 01 00 41 0d 00 00 00 00 00 00 00 00 00 00 00 00 00 49 01
00
dwm>

si
[197364.040 INF] sys: fw2 fw_ver=x01030001 cfg_ver=x00010700
[197364.040 INF] uwb0: panid=xF2F9 addr=xDECA829B93B3D1A2
[197364.050 INF] mode: ani (act,real)
[197364.050 INF] uwbmac: connected
[197364.060 INF] uwbmac: bh disconnected
[197364.060 INF] cfg: sync=0 fwup=1 ble=1 leds=1 init=1 upd_rate_stat=120 label=DWD1A2
[197364.070 INF] enc: off
[197364.070 INF] ble: addr=F7:52:96:C9:EF:3D
dwm>

stg
uptime: 197452
rtc_drift: 0.000000
ble_con_ok: 2
ble_dis_ok: 2
ble_err: 0
api_err: 0
api_err_cnt: 0
api_dl_cnt: 0
uwb0_intr: 181678839
uwb0_rst: 0
uwb0_bpc: 161
rx_ok: 179670897
rx_err: 1
tx_err: 4
tx_errx: 0
bcn_tx_ok: 1974405
bcn_tx_err: 0
bcn_rx_ok: 0
alma_tx_ok: 16453
alma_tx_err: 0
alma_rx_ok: 0
cl_rx_ok: 0
cl_tx_ok: 0
cl_coll: 0
fwup_tx_ok: 0
fwup_tx_err: 0
fwup_rx_ok: 0
svc_tx_ok: 0
svc_tx_err: 0
svc_rx_ok: 0
clk_sync: 0
bh_rt: 0
bh_nort: 0
bh_ev: 0
bh_buf_lost[0]: 0
bh_buf_lost[1]: 0
bh_tx_err: 0
bh_dl_err: 0
bh_dl_ok: 0
bh_ul_err: 0
bh_ul_ok: 0
fw_dl_tx_err: 0
fw_dl_iot_ok: 0
fw_ul_loc_ok: 0
fw_ul_iot_ok: 0
ul_tx_err: 0
dl_iot_ok: 0
ul_loc_ok: 0
ul_iot_ok: 16453
enc_err: 0
reinit: 1
twr_ok: 636
twr_err: 4
res[0]: 0 x00000000
res[1]: 0 x00000000
res[2]: 0 x00000000
res[3]: 0 x00000000
res[4]: 0 x00000000
res[5]: 0 x00000000
tot_err: 9
dwm>

tlv 12 0
OUTPUT FRAME:
40 01 00 41 0d 00 00 00 00 00 00 00 00 96 23 00 00 64 48 01
00
dwm>

si
[195375.690 INF] sys: fw2 fw_ver=x01030001 cfg_ver=x00010700
[195375.690 INF] uwb0: panid=xF2F9 addr=xDECA2E6435A3D1A8
[195375.700 INF] mode: an (act,-)
[195375.700 INF] uwbmac: disconnected
[195375.700 INF] uwbmac: bh disconnected
[195375.710 INF] cfg: sync=0 fwup=1 ble=1 leds=1 init=0 upd_rate_stat=120 label=DWD1A8
[195375.710 INF] enc: off
[195375.720 INF] ble: addr=C9:F7:0C:BE:B9:A1
dwm>

stg
uptime: 195496
rtc_drift: 0.000000
ble_con_ok: 0
ble_dis_ok: 0
ble_err: 0
api_err: 0
api_err_cnt: 0
api_dl_cnt: 0
uwb0_intr: 2215612
uwb0_rst: 57540
uwb0_bpc: 1
rx_ok: 2215612
rx_err: 0
tx_err: 0
tx_errx: 0
bcn_tx_ok: 0
bcn_tx_err: 0
bcn_rx_ok: 0
alma_tx_ok: 0
alma_tx_err: 0
alma_rx_ok: 0
cl_rx_ok: 0
cl_tx_ok: 0
cl_coll: 0
fwup_tx_ok: 0
fwup_tx_err: 0
fwup_rx_ok: 0
svc_tx_ok: 0
svc_tx_err: 0
svc_rx_ok: 0
clk_sync: 0
bh_rt: 0
bh_nort: 0
bh_ev: 0
bh_buf_lost[0]: 0
bh_buf_lost[1]: 0
bh_tx_err: 0
bh_dl_err: 0
bh_dl_ok: 0
bh_ul_err: 0
bh_ul_ok: 0
fw_dl_tx_err: 0
fw_dl_iot_ok: 0
fw_ul_loc_ok: 0
fw_ul_iot_ok: 0
ul_tx_err: 0
dl_iot_ok: 0
ul_loc_ok: 0
ul_iot_ok: 0
enc_err: 0
reinit: 16862
twr_ok: 0
twr_err: 0
res[0]: 0 x00000000
res[1]: 1 x00000001
res[2]: 0 x00000000
res[3]: 0 x00000000
res[4]: 0 x00000000
res[5]: 0 x00000000
tot_err: 0
dwm>

tlv 12 0
OUTPUT FRAME:
40 01 00 41 0d 80 52 00 00 69 d9 ff ff 32 23 00 00 64 48 01
00
dwm>

si
[195887.940 INF] sys: fw2 fw_ver=x01030001 cfg_ver=x00010700
[195887.940 INF] uwb0: panid=xF2F9 addr=xDECA0CA272854D39
[195887.950 INF] mode: an (act,-)
[195887.950 INF] uwbmac: disconnected
[195887.950 INF] uwbmac: bh disconnected
[195887.960 INF] cfg: sync=0 fwup=0 ble=1 leds=1 init=0 upd_rate_stat=120 label=DW4D39
[195887.960 INF] enc: off
[195887.970 INF] ble: addr=C9:F7:3B:6D:82:84
dwm>

stg
uptime: 195954
rtc_drift: 0.000000
ble_con_ok: 0
ble_dis_ok: 0
ble_err: 0
api_err: 0
api_err_cnt: 0
api_dl_cnt: 0
uwb0_intr: 2478401
uwb0_rst: 60194
uwb0_bpc: 1
rx_ok: 2478402
rx_err: 0
tx_err: 0
tx_errx: 0
bcn_tx_ok: 0
bcn_tx_err: 0
bcn_rx_ok: 0
alma_tx_ok: 0
alma_tx_err: 0
alma_rx_ok: 0
cl_rx_ok: 0
cl_tx_ok: 0
cl_coll: 0
fwup_tx_ok: 0
fwup_tx_err: 0
fwup_rx_ok: 0
svc_tx_ok: 0
svc_tx_err: 0
svc_rx_ok: 0
clk_sync: 0
bh_rt: 0
bh_nort: 0
bh_ev: 0
bh_buf_lost[0]: 0
bh_buf_lost[1]: 0
bh_tx_err: 0
bh_dl_err: 0
bh_dl_ok: 0
bh_ul_err: 0
bh_ul_ok: 0
fw_dl_tx_err: 0
fw_dl_iot_ok: 0
fw_ul_loc_ok: 0
fw_ul_iot_ok: 0
ul_tx_err: 0
dl_iot_ok: 0
ul_loc_ok: 0
ul_iot_ok: 0
enc_err: 0
reinit: 14303
twr_ok: 0
twr_err: 0
res[0]: 0 x00000000
res[1]: 1 x00000001
res[2]: 0 x00000000
res[3]: 0 x00000000
res[4]: 0 x00000000
res[5]: 0 x00000000
tot_err: 0
dwm>

tlv 12 0
OUTPUT FRAME:
40 01 00 41 0d 80 52 00 00 54 29 00 00 20 26 00 00 64 48 01
00
dwm>

Our theory is that the anchors are not able to see each other due signal issues. Every anchor has LOS with each other, and they are 20 meters apart in average.

What are we doing wrong? Is there a way to debug the signal issues?

Regards.

Does anyone has some insight? please?

Does anyone has some insight? please?