User's Manual

V7 EXTERNAL ANTENNA RTLS MODULE USER MANUAL
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Name
Type
Values
Description
z int32 Position Z in mm.
sl uint16 Area ID
fom uint8 50-255 Figure of merit—confidence level of the position
estimate. A smaller value is better.
Note: Not available for 1D, 0D and PD positioning
mode.
er uint32 0D mode - distance to 0D anchor in mm.
1D mode – distance to the line connecting anchor
pair(mm).
Note
: Only available in 0D and 1D modes.
op string UWB|IMU,
0D|1D|2D|3D|PD,
E,I,A,S
Comma separated flags indicating various position
estimation options. Current values are:
 UWB|IMU - position estimated from UWB or IMU
 0D|1D|2D|3D|PD - positioning mode
 E - edge correction applied
 I - inactive state, IMU detected device not moving
 A - ranging in non-synchronous mode (TW-TOA)

S
-
indicate tag being synchronized in network
ts uint32 Local timestamp. Number of milliseconds elapsed
since node boot up.
TABLE 9 POSITION UPDATE CONTENT FIELDS
The following is an example of a position update message:
#POS x=10352 y=2768 z=1008 sl=7 fom=50 op=UWB,2D,E ts=45376
4.2.2.2. #IMU – IMU output
The raw reading of the on-board 6-axis IMU can be output directly to the UART. The sampling
rate of the IMU is 52Hz. The following table lists the content fields of the #IMU message:
Name
Type
Description
ax int32 Linear acceleration axis X in mg/s
2
ay int32 Linear acceleration axis Y in mg/s
2
az int32 Linear acceleration axis Z in mg/s
2
rx int32 Angular rate axis X in rad*10
-3
/s
ry int32 Angular rate axis Y in rad*10
-3
/s
rz int32 Angular rate axis Z in rad*10
-3
/s
ts uint32
Local timestamp of the number of milliseconds elapsed since node boot
up