Ublox XPLR-AOA-1, Руководство пользователя

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XPLR-AOA-1 and XPLR-AOA-2 explorer kits - User guide
UBX-21004616 - R10 Running system Page 22 of 27
C1 - Public
6 Running system
Once the system is setup, each anchor reports, over the serial port connection, angle calculation
events (
+UUDF
) when it detects a beacon:
+UUDF:CCF9578E0D8A,-42, 20 ,0,- 43,37,”CCF9578E0D8 9 ”,”” ,15869,23
+UUDF:CCF9578E0D8B,-41, 10 ,4,- 42,38,”CCF9578E0D89”,”” ,15892,24
+UUDF:CCF9578E0D8A,-42, -10 ,2,- 43,39,”CCF9578E0D89”,”” ,15921,25
…
The data reported in this event can be used to estimate the position of the tracked beacon.
The parameters of the
+UUDF
event are (in order from left to right):
• Eddystone instance ID
•
RSSI of 1 st polarization
• Azimuth angle
• Elevation angle
• Reserved parameter
• The advertising channel where the advertisement was found. The advertisement channel is one of
the normal Bluetooth low energy advertisement channels (37, 38 or 39)
• Anchor ID as set by
AT+UDFCFG
tag 4
• User defined strings as set by
AT+UDFCFG
tag 2
• Timestamp
•
Periodic advertising sequence number
For a detailed description of the
+UUDF
event parameters, see the u-connectLocate AT commands
manual [21] .
As in the angle calculation events shown above, the beacon is moving from one side of the anchor to
the other as the azimuth angle, given as the third parameter in the command (shown in bold), moves
from a positive value (20) to a negative value (-10). The geometric relationships of the azimuth values
and the orientation of the angles in relation to the C211 board are represented in the scientific
diagram shown in
Figure 16 .
Figure 16: C211 azimuth angles
☞
The optimal distance between anchor nodes and tags is approximately 2 – 15 m.