Read distance using API

Hi, I just begun tests with DWM10001-dev and need some help.

I have four anchors and one tag. All are set up using DWM1001_DRTLS_manager. I try to read distance between tag and each anchor, using serial connection:

DWM1001 TWR Real Time Location System

Copyright : 2016-2017 LEAPS and Decawave
License : Please visit https://decawave.com/dwm1001_license
Compiled : Dec 18 2017 10:57:47

Help : ? or help

dwm> les
dwm> 07A4[1.00,1.00,0.00]=3.26
07A4[1.00,1.00,0.00]=3.25

but I see only one distance between tag and anchor with “initiator” set to “on”. How should I set up anchors and tag to see distance for all tags as described in API doc:

[size=medium]5.18 [/size][size=medium]les[/size]
Show distances to ranging anchors and the position if location engine is enabled. Sending this command multiple times will turn on/off this functionality.
Example:
dwm> les
1151[5.00,8.00,2.25]=6.48 0CA8[0.00,8.00,2.25]=6.51 111C[5.00,0.00,2.25]=3.18 1150[0.00,0.00,2.25]=3.16 le_us=2576 est[2.57,1.98,1.68,100]

Regards - Tomasz

Hi TBKrakow,

Are your tags and anchor in range and line of sight conditions ?

What is the output of the la command ?

Thanks
Yves

Hi, anchors are in range of 5 meters each other, currently I have two anchors.
I usually see distance from one anchor, sometimes from two.
First one is set as initiator active, second initiator passive, but I tried many different setups with similar results.
Please take a look for typical output:

DD07[0.00,0.00,0.00]=3.73
DD07[0.00,0.00,0.00]=3.72
DD07[0.00,0.00,0.00]=3.69
DD07[0.00,0.00,0.00]=3.70
DD07[0.00,0.00,0.00]=3.70
DD07[0.00,0.00,0.00]=3.68
DD07[0.00,0.00,0.00]=3.73
DD07[0.00,0.00,0.00]=3.70
DD07[0.00,0.00,0.00]=3.71
DD07[0.00,0.00,0.00]=3.70
DD07[0.00,0.00,0.00]=3.66
DD07[0.00,0.00,0.00]=3.72
DD07[0.00,0.00,0.00]=3.72
DD07[0.00,0.00,0.00]=3.69

but some times I get:
DD07[0.00,0.00,0.00]=3.70 07A4[5.00,5.00,5.00]=3.78
DD07[0.00,0.00,0.00]=3.72 07A4[5.00,5.00,5.00]=3.67
DD07[0.00,0.00,0.00]=3.72 07A4[5.00,5.00,5.00]=3.86
DD07[0.00,0.00,0.00]=3.70 07A4[5.00,5.00,5.00]=3.27
DD07[0.00,0.00,0.00]=3.71 07A4[5.00,5.00,5.00]=3.49
DD07[0.00,0.00,0.00]=3.66 07A4[5.00,5.00,5.00]=3.93
DD07[0.00,0.00,0.00]=3.69 07A4[5.00,5.00,5.00]=4.10
DD07[0.00,0.00,0.00]=3.67 07A4[5.00,5.00,5.00]=3.68
DD07[0.00,0.00,0.00]=3.69 07A4[5.00,5.00,5.00]=3.66
DD07[0.00,0.00,0.00]=3.65 07A4[5.00,5.00,5.00]=2.95
DD07[0.00,0.00,0.00]=3.75 07A4[5.00,5.00,5.00]=4.38
DD07[0.00,0.00,0.00]=3.72 07A4[5.00,5.00,5.00]=3.91
DD07[0.00,0.00,0.00]=3.71 07A4[5.00,5.00,5.00]=3.49
DD07[0.00,0.00,0.00]=3.65 07A4[5.00,5.00,5.00]=3.35
DD07[0.00,0.00,0.00]=3.69 07A4[5.00,5.00,5.00]=3.07
DD07[0.00,0.00,0.00]=3.68 07A4[5.00,5.00,5.00]=3.65
DD07[0.00,0.00,0.00]=3.66 07A4[5.00,5.00,5.00]=2.86
DD07[0.00,0.00,0.00]=3.70 07A4[5.00,5.00,5.00]=3.64
DD07[0.00,0.00,0.00]=3.68 07A4[5.00,5.00,5.00]=3.74
DD07[0.00,0.00,0.00]=3.72 07A4[5.00,5.00,5.00]=3.34
DD07[0.00,0.00,0.00]=3.73 07A4[5.00,5.00,5.00]=3.00

Question is: how to set up all anchors to get distance for each of them?

One anchor should be initiator active, any other anchor should be active (they don’t have to be initiator but must be active ).

Use the “la” command and the tag should range to as many anchor as reported by “la”.

Let me know how it goes,
Thanks
Yves

la
[054115.410 INF] AN: cnt=2 seq=x02
[054115.410 INF] 0) id=000000000000DD07 seat=0 idl=0 seens=36 lqi=0 fl=4001 map=00000000 pos=0.00:0.00:0.00
[054115.420 INF] 1) id=00000000000007A4 seat=12 idl=2 seens=202 lqi=0 fl=4001 map=00007FFF pos=5.00:5.00:5.00
[054115.430 INF]

les

DD07[0.00,0.00,0.00]=3.70
DD07[0.00,0.00,0.00]=3.73 07A4[5.00,5.00,5.00]=3.00
DD07[0.00,0.00,0.00]=3.70 07A4[5.00,5.00,5.00]=3.02
DD07[0.00,0.00,0.00]=3.69 07A4[5.00,5.00,5.00]=3.02
DD07[0.00,0.00,0.00]=3.69 07A4[5.00,5.00,5.00]=3.14
DD07[0.00,0.00,0.00]=3.73 07A4[5.00,5.00,5.00]=3.03
DD07[0.00,0.00,0.00]=3.72 07A4[5.00,5.00,5.00]=2.98
DD07[0.00,0.00,0.00]=3.70
DD07[0.00,0.00,0.00]=3.69
DD07[0.00,0.00,0.00]=3.71
DD07[0.00,0.00,0.00]=3.71
DD07[0.00,0.00,0.00]=3.72
DD07[0.00,0.00,0.00]=3.70
DD07[0.00,0.00,0.00]=3.70
DD07[0.00,0.00,0.00]=3.72
DD07[0.00,0.00,0.00]=3.68
DD07[0.00,0.00,0.00]=3.71
DD07[0.00,0.00,0.00]=3.72

XYZ parameters of second anchor are average, but I think it is not importend to calculate distance anchor-tag, right?
See attached screen from Manager.

The result is a bit strange, I would expect 07A4 to be always seen. Is line of sight between tags and both anchors good?

Thanks
Yves

I just added 3th anchor

la

dwm> la
[056124.660 INF] AN: cnt=3 seq=x03
[056124.660 INF] 0) id=000000000000DD07 seat=0 idl=0 seens=24 lqi=0 fl=4001 map=00000000 pos=0.00:0.00:0.00
[056124.670 INF] 1) id=00000000000007A4 seat=15 idl=2 seens=0 lqi=0 fl=4001 map=00007FFF pos=0.00:0.00:0.00
[056124.680 INF] 2) id=0000000000009DA0 seat=3 idl=2 seens=10 lqi=0 fl=4001 map=00007FFF pos=0.00:0.00:0.00
[056124.690 INF]

les
DD07[0.00,0.00,0.00]=3.79
DD07[0.00,0.00,0.00]=3.75
DD07[0.00,0.00,0.00]=3.78
DD07[0.00,0.00,0.00]=3.75
DD07[0.00,0.00,0.00]=3.76
DD07[0.00,0.00,0.00]=3.79
DD07[0.00,0.00,0.00]=3.79 07A4[0.00,0.00,0.00]=3.05
DD07[0.00,0.00,0.00]=3.77 07A4[0.00,0.00,0.00]=3.01
DD07[0.00,0.00,0.00]=3.76 07A4[0.00,0.00,0.00]=2.95
DD07[0.00,0.00,0.00]=3.73 9DA0[11.00,6.00,0.00]=4.68 07A4[0.00,0.00,0.00]=2.97
DD07[0.00,0.00,0.00]=3.77 9DA0[11.00,6.00,0.00]=4.39 07A4[0.00,0.00,0.00]=2.97
DD07[0.00,0.00,0.00]=3.77 9DA0[11.00,6.00,0.00]=4.39 07A4[0.00,0.00,0.00]=3.01
DD07[0.00,0.00,0.00]=3.81 9DA0[11.00,6.00,0.00]=4.75 07A4[0.00,0.00,0.00]=2.95
DD07[0.00,0.00,0.00]=3.76 07A4[0.00,0.00,0.00]=3.04
DD07[0.00,0.00,0.00]=3.81 07A4[0.00,0.00,0.00]=2.92
DD07[0.00,0.00,0.00]=3.79
DD07[0.00,0.00,0.00]=3.78 07A4[0.00,0.00,0.00]=2.96
DD07[0.00,0.00,0.00]=3.80 07A4[0.00,0.00,0.00]=3.02
DD07[0.00,0.00,0.00]=3.78 07A4[0.00,0.00,0.00]=3.42
DD07[0.00,0.00,0.00]=3.77 07A4[0.00,0.00,0.00]=3.09
DD07[0.00,0.00,0.00]=3.78 07A4[0.00,0.00,0.00]=3.26
DD07[0.00,0.00,0.00]=3.78 07A4[0.00,0.00,0.00]=3.37
DD07[0.00,0.00,0.00]=3.78 9DA0[11.00,6.00,0.00]=4.55 07A4[0.00,0.00,0.00]=3.31
DD07[0.00,0.00,0.00]=3.78 9DA0[11.00,6.00,0.00]=4.63 07A4[0.00,0.00,0.00]=3.30
DD07[0.00,0.00,0.00]=3.78 9DA0[11.00,6.00,0.00]=4.53 07A4[0.00,0.00,0.00]=3.30
DD07[0.00,0.00,0.00]=3.77 07A4[0.00,0.00,0.00]=3.19
DD07[0.00,0.00,0.00]=3.77 07A4[0.00,0.00,0.00]=3.25
DD07[0.00,0.00,0.00]=3.80
DD07[0.00,0.00,0.00]=3.77
DD07[0.00,0.00,0.00]=3.79
DD07[0.00,0.00,0.00]=3.76
DD07[0.00,0.00,0.00]=3.73

What kind of power supply are you using for the anchors ?

It looks like they are keep reconnecting and cannot keep an anchor seat. I haven’t observed this behavior at all so far. How high are you anchors and how far apart from each other?

Yves

I use Samsung phone power suppliers (2A max). Anchor and tag are lying on the floor in the same room, in range of 5 meters. Some kind of radio interference (WIFI routers)?

Hi I would suspect laying on a surface and close to each other is not great for RF performance. In the past, I’ve put 4 anchors on a 2x2m table and couldn’t get the system to work.

Can you place the device against the wall or high up on a tripod ?

Regards
Yves

I’ll try…
[hr]
Ok… All devices 1.2 m above the floor, distance about 8 meters. Reads are very unstable…

DD07[0.00,0.00,0.00]=5.99 9DA0[0.00,0.00,0.00]=3.87
DD07[0.00,0.00,0.00]=5.89 07A4[0.00,0.00,0.00]=9.99 9DA0[0.00,0.00,0.00]=3.87 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.94 07A4[0.00,0.00,0.00]=10.73 9DA0[0.00,0.00,0.00]=3.79 le_us=244 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.92
DD07[0.00,0.00,0.00]=6.07 9DA0[0.00,0.00,0.00]=3.84
DD07[0.00,0.00,0.00]=5.85 9DA0[0.00,0.00,0.00]=3.79
DD07[0.00,0.00,0.00]=5.83 07A4[0.00,0.00,0.00]=10.71 9DA0[0.00,0.00,0.00]=3.81 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.82 9DA0[0.00,0.00,0.00]=3.79
DD07[0.00,0.00,0.00]=5.87 9DA0[0.00,0.00,0.00]=3.79
DD07[0.00,0.00,0.00]=5.89 07A4[0.00,0.00,0.00]=10.82 9DA0[0.00,0.00,0.00]=3.81 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=6.06 07A4[0.00,0.00,0.00]=10.24 9DA0[0.00,0.00,0.00]=3.80 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=6.00 07A4[0.00,0.00,0.00]=9.68 9DA0[0.00,0.00,0.00]=3.77 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=6.01 07A4[0.00,0.00,0.00]=10.36 9DA0[0.00,0.00,0.00]=3.76 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=6.07 9DA0[0.00,0.00,0.00]=3.86
DD07[0.00,0.00,0.00]=5.78 9DA0[0.00,0.00,0.00]=3.81
DD07[0.00,0.00,0.00]=5.86 07A4[0.00,0.00,0.00]=10.73 9DA0[0.00,0.00,0.00]=3.79 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.80 9DA0[0.00,0.00,0.00]=3.78
DD07[0.00,0.00,0.00]=5.81 9DA0[0.00,0.00,0.00]=3.78
DD07[0.00,0.00,0.00]=5.89 07A4[0.00,0.00,0.00]=10.01 9DA0[0.00,0.00,0.00]=3.84 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.95 07A4[0.00,0.00,0.00]=10.07 9DA0[0.00,0.00,0.00]=3.96 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.95 9DA0[0.00,0.00,0.00]=3.98
DD07[0.00,0.00,0.00]=5.97 07A4[0.00,0.00,0.00]=9.73 9DA0[0.00,0.00,0.00]=4.01 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=6.02 9DA0[0.00,0.00,0.00]=4.03
DD07[0.00,0.00,0.00]=6.00 9DA0[0.00,0.00,0.00]=3.97
DD07[0.00,0.00,0.00]=6.01 07A4[0.00,0.00,0.00]=10.33 9DA0[0.00,0.00,0.00]=4.01 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.96 07A4[0.00,0.00,0.00]=9.69 9DA0[0.00,0.00,0.00]=3.95 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.98 07A4[0.00,0.00,0.00]=9.77 9DA0[0.00,0.00,0.00]=3.98 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.91 07A4[0.00,0.00,0.00]=10.12 9DA0[0.00,0.00,0.00]=3.96 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=6.01 9DA0[0.00,0.00,0.00]=3.93
DD07[0.00,0.00,0.00]=6.02 9DA0[0.00,0.00,0.00]=3.90
DD07[0.00,0.00,0.00]=5.93 9DA0[0.00,0.00,0.00]=3.96
DD07[0.00,0.00,0.00]=5.95 07A4[0.00,0.00,0.00]=9.73 9DA0[0.00,0.00,0.00]=3.97 le_us=213 est[0.00,0.00,0.00,50]

dwm> DD07[0.00,0.00,0.00]=5.75 9DA0[0.00,0.00,0.00]=3.79
DD07[0.00,0.00,0.00]=5.99 07A4[0.00,0.00,0.00]=9.71 9DA0[0.00,0.00,0.00]=4.05 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.82 9DA0[0.00,0.00,0.00]=3.67
DD07[0.00,0.00,0.00]=5.88 9DA0[0.00,0.00,0.00]=3.87
DD07[0.00,0.00,0.00]=5.92 9DA0[0.00,0.00,0.00]=3.72
DD07[0.00,0.00,0.00]=5.78 9DA0[0.00,0.00,0.00]=3.75
DD07[0.00,0.00,0.00]=5.90 9DA0[0.00,0.00,0.00]=3.64
DD07[0.00,0.00,0.00]=5.93 9DA0[0.00,0.00,0.00]=3.64
DD07[0.00,0.00,0.00]=5.93 07A4[0.00,0.00,0.00]=10.85 9DA0[0.00,0.00,0.00]=3.70 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.85 9DA0[0.00,0.00,0.00]=3.64
DD07[0.00,0.00,0.00]=5.90 9DA0[0.00,0.00,0.00]=3.64
DD07[0.00,0.00,0.00]=5.88 9DA0[0.00,0.00,0.00]=3.62
DD07[0.00,0.00,0.00]=5.92 9DA0[0.00,0.00,0.00]=3.70
DD07[0.00,0.00,0.00]=5.90 9DA0[0.00,0.00,0.00]=3.63
DD07[0.00,0.00,0.00]=5.83 9DA0[0.00,0.00,0.00]=3.66
DD07[0.00,0.00,0.00]=5.90 07A4[0.00,0.00,0.00]=10.93 9DA0[0.00,0.00,0.00]=3.68 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.86 9DA0[0.00,0.00,0.00]=3.72
DD07[0.00,0.00,0.00]=5.87 9DA0[0.00,0.00,0.00]=3.89
DD07[0.00,0.00,0.00]=5.86 9DA0[0.00,0.00,0.00]=3.82
DD07[0.00,0.00,0.00]=5.89 9DA0[0.00,0.00,0.00]=4.00
DD07[0.00,0.00,0.00]=5.85 9DA0[0.00,0.00,0.00]=3.85
DD07[0.00,0.00,0.00]=5.86 9DA0[0.00,0.00,0.00]=3.89
DD07[0.00,0.00,0.00]=5.87 9DA0[0.00,0.00,0.00]=3.89
DD07[0.00,0.00,0.00]=5.84 9DA0[0.00,0.00,0.00]=3.74
DD07[0.00,0.00,0.00]=5.84 9DA0[0.00,0.00,0.00]=3.63
DD07[0.00,0.00,0.00]=5.87 07A4[0.00,0.00,0.00]=9.95 9DA0[0.00,0.00,0.00]=3.79 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.69 9DA0[0.00,0.00,0.00]=3.78
DD07[0.00,0.00,0.00]=5.86 07A4[0.00,0.00,0.00]=10.00 9DA0[0.00,0.00,0.00]=3.67 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.87 9DA0[0.00,0.00,0.00]=3.67
DD07[0.00,0.00,0.00]=5.95 9DA0[0.00,0.00,0.00]=3.72
DD07[0.00,0.00,0.00]=5.81 07A4[0.00,0.00,0.00]=10.49 9DA0[0.00,0.00,0.00]=3.72 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.78 9DA0[0.00,0.00,0.00]=3.72
DD07[0.00,0.00,0.00]=5.79 07A4[0.00,0.00,0.00]=10.18 9DA0[0.00,0.00,0.00]=3.71 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.78 9DA0[0.00,0.00,0.00]=3.73
DD07[0.00,0.00,0.00]=5.95 9DA0[0.00,0.00,0.00]=3.73
DD07[0.00,0.00,0.00]=5.87 07A4[0.00,0.00,0.00]=10.91 9DA0[0.00,0.00,0.00]=3.78 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.92 07A4[0.00,0.00,0.00]=9.77 9DA0[0.00,0.00,0.00]=3.73 le_us=213 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.95 9DA0[0.00,0.00,0.00]=3.67
DD07[0.00,0.00,0.00]=5.78 9DA0[0.00,0.00,0.00]=3.74
DD07[0.00,0.00,0.00]=5.84 9DA0[0.00,0.00,0.00]=3.78
DD07[0.00,0.00,0.00]=5.85 07A4[0.00,0.00,0.00]=10.00 9DA0[0.00,0.00,0.00]=3.72 le_us=244 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.88 9DA0[0.00,0.00,0.00]=3.73
DD07[0.00,0.00,0.00]=5.83 07A4[0.00,0.00,0.00]=10.72 9DA0[0.00,0.00,0.00]=3.72 le_us=244 est[0.00,0.00,0.00,50]
DD07[0.00,0.00,0.00]=5.85 9DA0[0.00,0.00,0.00]=3.68
DD07[0.00,0.00,0.00]=5.78 9DA0[0.00,0.00,0.00]=3.70
DD07[0.00,0.00,0.00]=5.81 9DA0[0.00,0.00,0.00]=3.72
DD07[0.00,0.00,0.00]=5.82 9DA0[0.00,0.00,0.00]=3.73
DD07[0.00,0.00,0.00]=5.78 9DA0[0.00,0.00,0.00]=3.74
DD07[0.00,0.00,0.00]=5.82 9DA0[0.00,0.00,0.00]=3.94
DD07[0.00,0.00,0.00]=5.87 9DA0[0.00,0.00,0.00]=3.87
DD07[0.00,0.00,0.00]=5.82 9DA0[0.00,0.00,0.00]=3.78
DD07[0.00,0.00,0.00]=5.81 9DA0[0.00,0.00,0.00]=3.75
DD07[0.00,0.00,0.00]=5.82 9DA0[0.00,0.00,0.00]=3.75
DD07[0.00,0.00,0.00]=5.78 9DA0[0.00,0.00,0.00]=3.73
DD07[0.00,0.00,0.00]=5.82 9DA0[0.00,0.00,0.00]=3.68
DD07[0.00,0.00,0.00]=5.83 07A4[0.00,0.00,0.00]=10.26 9DA0[0.00,0.00,0.00]=3.74 le_us=213 est[0.00,0.00,0.00,50]

Maybe LED blinking pattern can help determine status (change) on individual anchors? See chapter 4 of DWM1001-DEV datasheet for an explanation. If the anchors are loosing connection or anything similar happens, LED mode should change in time.

Anchor 2
D19 OFF
D20 BLINKING FAST RED
D13 BLINKING RED GREEN
D9 GREEN
D11 GREEND11 SHORT RED EVERY 5 SEC - MY TAG READ POSITION EVERY 5 SEC - TAG STATIONERY UPDATE RATE IS SET TO 5 SEC
D10 OFF

Seems to be OK…