I’m looking at designing a system with a large mobile robot and many cargo pods. I’d like to put four anchors on the robot (it’s large enough to have a good baseline for them) and then 2-4 tags on each cargo pod. I’d then like to get the distance to each tag on the robot so it can locate them. Reading through the documentation, it looks like this would generally be done using a gateway anchor, but I’d rather avoid that since I can’t guarantee that any particular point on the robot will always have the LoS required to ensure that the gateway will be able to see the tags, but I can guarantee that at least one of the anchors will.
Reading further into the documentation, it looks like using the backhaul system should allow for me to have each tag send it’s distance information back to the anchors.
Does sending distance over the backhaul system seem reasonable/viable?
The uui/udi shell command doesn’t seem to be working as I expect it to. Turning on udi on the anchor and then using uui on the tag to send a message doesn’t seem to do anything. Am I missing something?
Hi @Milner
the gateway is probably the easies way how to gather data (location and IoT data) from TN - you can read it directly from the MQTT server in JSON format. The LOS it not always needed but it heavily depends on obstacle types and environment. But you can have also multiple gateways which will be redirecting the messages to the main gateway (see the daemon and proxy configuration).
UDI/UUI are meant for sending IoT data and it is not working without the gateway.
There is one possible workaround, you can add few more “anchors” which will be in passive mode (nmp command). With this passive anchors you can observe TN’s locations data with the les/lec/lep commands.
With the passive mode anchors, how close could they be to the active anchors and still function without interfering? It would be nice if they could go in the same mounting pod.
The node in passive mode is really only passive/listening on UWB, so they do not interfere with anything. You can have any amount of passive node as needed. You just need to ensure its range can cover the area of interest.
Hi @Milner
from the tag output you can see that the tag see only two anchors - 0x5330 and 0x0F13 but for the position calculation the tag must see at least 3 anchors The optimum / maximum is 4 anchors because it can calculate more positions and then it will pick up the best calculated position. So your tag cannot calculate its position and that it why it is reporting “nan”. Add one anchor and then you should receive the positions.
Hi @Milner
for the gateway mode the BLE must be disabled. However the gateway mode is meant to be used with Raspberry Pi. Im not sure if Qorvo has released the gateway communication specification / protocol you need to check API documentation. It uses standart UART binary API abut there is very strict timing.