Application Note AN10 RTLS TDOA Platform Components Comparison

Transcription

1 Application Note AN10 TDOA Platform Components Comparison 1 Brief Changelog v1.1 No changes Important Changes Position Algorithm API Database Manager v1.12 v1.21 API for Building plans API /tags /anchor /building No changes Update All button Anchor status Anchors are added Automatically UDP connector Demo N/A Software Place All Tags Anchors Button v D System Change No Changes N/A N/A v1.2.2 Position Algorithm API Database Manager v2.1.1 v Add inertial data rotx,y,z Improved Error estimation Improved Sync Selection Improved Blink Selection interactive API documentation within PDF documentation Web-socket subscription to zones Feed_zone Table (helps to identify Tag within zone) Tag Sensor Reconfiguration via Wireless Anchor's IP scope is stored Sync Graph improvement Master Selection can be done automatically after initialization Batch database upload (60sec/200positions ) new Tag messages Push button Custom payload Raw sensor data Demo N/A Confidence Level Radius (CLR) visualization can be disabled v new Tag messages Push button Custom payload Raw sensor data 3D System Change Initial release Backup/Restore feature v1.3.2 Position Algorithm API Database Manager v2.3.3 v button for remote LED indication on Anchor Improved Sync during high packetloss number of anchors and CLR for each position update via UDP/REST/Websockets API for API for Tag Category -> Get/Create/Update/Delete position_history table (required by ) notification table category and feed_category table mode option Active/Presence/Idle color for online Tags (blink each minute is required) Tag Alias -> Tag Summary Presence Detection support Demo v1.0.0 Initial Beta version Replaced Tracking statistics buttons Place All Anchors Place All Tags on current floorplan v notifications support Auto reconnect if connection is lost 3D System Change Capture is limited to 15min Support for raw/yall/pitch tooltip with distance/avg speed Auto reconnect if connection is lost notification for low disk space and DB store is automatically turned off delete button for old positions 1

2 Adjustet blink count in Tag summary Auto reconnect if connection is lost Position Algorithm API Database Manager v2.4.4 v Demo v user options are saved now v D System Change v1.4.1 master restrictions (enables possibility to restrict slaves for given master). User can modify master restrictions without the need to restart rtlsserver Map matching feature Beta version Debugging mode with Hyperbola plot Find best master algorithm completely reworked Improvements for building management, plans, anchors, tags, zones and position history possibility to manage paths MAC address to Tag stream Datastreams X, Y, Z of sensors renamed and merged into one Changes in database structure Type of feed (building, anchor, tag) is now determined by column type in feeds, not by metatag, e.g. Plans for building are now in separate object, not in metatags, e.g. Support for anchors with multiple antennas Wireless configuration for new features in Tag firmware Support for Tag sensor calibration Evaluate masters during initialization also by their error in multilateration More stable initialization for WiFi anchors System support for tags Automatic tag placement on plan The Map matching with strength of paths. User can modify paths without the need to restart rtlsserver Upload of extended position information (so user can visualize hyperbolas) zone manager tool to create and edit zones feature which enables user to change time interval of all charts at once Improved GUI for mobile platforms tool to visualize and analyze initialization profiler tool to visualize and analyze hyperbolas tool to draw and set paths for mapmatching tool to define rooms for master master restrictions Automatically add tags on plan Possible to draw straight lines while creating zone (by holding shift key) three new columns (building name, plan name, plan id) for special request for content type /application /rtlsserver Changes of managemen t for buildings, plans, anchors, tags, zones and position history user options are saved now Persistent change of model for tag Possible to set 3d model for plan 3D Rotation is now using quaternions valid zones (visualize tag movement only inside this zone) Increased system limits (php max computation time, php max memory, system s max open file descriptors) Capture file limited to 15 minutes Tags are hidden until their first movement 2

3 2 Anchors Hardware Hardware Version Anchor 1.3 Anchor 1.4 Anchor 1.4 WiFi Warmup time 20 minutes* 20 minutes* 20 minutes* UWB Antenna omni omni omni Passive PoE (5-48V) yes yes yes Active PoE IEEE 802.3af, Cisco Compatible no no no USB Power Supply yes yes yes Ethernet Backhaul yes yes yes WiFi Backhaul no no yes Remote LED Indication no yes yes *typical time, in rare cases around 40minutes Note: For each anchor hardware revision, there exist a dedicated firmware binary file for particular firmware version. For example, one should never flash firmware file for Anchor RC 1.3 to Anchor RC 1.4 and vice versa. Firmware Compatibility Anchor Router Cube 1.3 Anchor Router Cube 1.4 Anchor Router Cube 1.4 WiFi Anchor Router Cube beta1 All versions >=1.2.2 Available Available N/A N/A 1.022beta1 All versions >=1.2.2 Available Available N/A N/A All versions >=1.2.2 Available Available N/A N/A All versions >=1.2.2 Available Available N/A N/A All versions >=1.2.2 Available Available N/A N/A Firmware Compatibility Anchor Router Cube 1.3 Anchor Router Cube 1.4 Anchor Router Cube 1.4 WiFi Anchor Router Cube WiFi All versions >=1.3.2 N/A N/A Available Available 2.1 Anchor s Firmware Brief Changelog Improvements Important Bug Fix WiFi support 1.021beta1 UWB Driver update - improved location stability Reset because high UWB traffic No 1.022beta1 Minor changes, platform into Manager Sync stability improved No Nothing Fixed issues with stability, caused by non network devices No Change reset button behavior Not found No WiFi mode settings: Active/Presence detection/idle remote LED indication from Manager After the firmware update anchor s configuration remains the same instead of going to default settings. First WiFi release Possibility to stop LED device indication Not found Not found No Yes 3

4 3 Tags Hardware Power Supply Tag Li-ion v4r3, v4r4 Tag IMU v4r7 IMU Tag Piccolino Li-ion battery mAh V Li-pol battery 560mAh V CR mAh V Battery Charging USB USB N/A Permanent Power Supply USB USB N/A Terminal Configuration USB USB N/A Firmware Update USB USB N/A Wireless Configuration Yes Yes Yes, Limited * Max. Update Rate 10ms (100Hz) 10ms (100Hz) 50ms (20Hz) Inertial Sensors (IMU) Magnetometer Gyroscope Movement Detection Yes Yes Yes Raw IMU Output Yes Yes N/A Roll, Yaw, Pitch Orientation Limited, Low stability Fully operational N/A LED Indication Yes Yes Yes On/Off button Yes Yes Yes User button No Yes Yes (Shared with On/Off) Dimensions OEM 62x44 mm 62x44 mm 37x29x11 mm Dimensions 70x50x21 mm 70x50x21 mm 54x45x17 mm UWB Receive/Transmit Receive/Transmit Receive/Transmit Transmit only *Note: Coin battery provides very limited drain current, thus Piccolino can withstand only very few configuration cycles, then the battery must be replaced for a new one. 4 Tags Firmware changelog Improvements Support for all RF Profiles N/A Updated UWB Driver beta Battery voltage for both all Tags are within the same range. Improved Console output. User Button send blink message Important Bug Fix In case of FLASH CRC Error, Tags do not wait for Enter in console and restart itself. Significantly improved stability 4

5 Inertial unit MPU-9250 support Tag Li-ion I2C sensor bus is set to 400kHz New message types support (Custom payload, INFO blink contains info about present sensors Significantly rewritten firmware source code. Keep Alive sleep mode sleep/wakeup threshold settings periodical RX option settings for accelerometer dynamic range Tag IMU improvements: support for MPU9250 (accelerometer, gyroscope, magnetometer) support for DPS310 (barometer, thermometer) console/wireless calibration for inertial sensors. settings for gyroscope dynamic range 3D orientation, output: Quaternions or Tait Bryan angles sequence. raw sensor data output 5