decaWave DW1000 - Figure 39: Ranging to 3 Anchors with Just

DW1000 User Manual
© Decawave Ltd 2017
Version 2.12
Page 230 of 242
Tag
Anchor A
TX
T
propA
T
propA
RX
RX TX
T
reply1A
T
round1A
time
RX
TX
T
reply2A
T
propA
RMARKER
Anchor B
RX TX
T
reply1B
Anchor C
RX TX
T
reply1C
T
round2C
RX RX
RX
RX
T
round1B
T
propB
T
propC
T
round1C
T
reply2B
T
reply2C
T
propB
T
round2A
T
round2B
T
propB
T
propC
T
propC
T
round1A
× T
round2A
 T
reply1A
× T
reply2A
T
round1A
+ T
round2A
+ T
reply1A
+ T
reply2A
T
propA
=
T
round1B
× T
round2B
 T
reply1B
× T
reply2B
T
round1B
+ T
round2B
+ T
reply1B
+ T
reply2B
T
propB
=
T
round1C
× T
round2C
 T
reply1C
× T
reply2C
T
round1C
+ T
round2C
+ T
reply1C
+ T
reply2C
T
propC
=
Poll
Poll
Poll
Poll
RespA
RespA RespB RespC
RespB
RespC
Final
Final
Final
Final
The Final message communicates the tag’s
T
round
and T
reply
times to the anchors, which
each calculate the range to the tag as follows.
Figure 39: Ranging to 3 anchors with just 5 messages where each anchor calculates its own range result