| NOTE IN THE CURRENT VERSION THE LETTER "X" IS
SWITCHED WITH "T" |
| The access program below has established a
connection to device R21 found at IP address 192.168.1.5 (see
system.txt). R21 and R24 are both on a table with a narrow beam
transducer facing the ceiling. Echo from R21 to X21 (own signal)
indicates the ceiling is 3846 mm away, and the distance from R24 to the
ceiling to R21 is 3640 mm. R24 is closer to the ceiling than R21 |
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| For interest sake lets change the name of R24
and give it the coordinate nomenclature (0,4,0) |
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| Note that the hash # means acknowledge. The
above is all done through the USB connection. Now we go to the IoT or
internet of things the world wide web and through the wifi connection we
rename device 21 as follows: |
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There is no acknowledge here because the
addressing of the unit was generic.
The unit .Me is 3640mm from the coordinate point (0,4,0). and the
distance to the ceiling from .me to .me is 3848mm. Devices can be
labeled as different coordinate points, and form a mesh from which
actual 3d coordinates within some frame of reference can be computed. |
| Creating the coordinates for each device is not
necessarily difficult, and there is no need to pick up the old measuring
tape, rather each device can be asked for the distance to the next. For
example we can let the device labeled .Me get the distance to (0,4,0) by
a direct call using the "ca:(0,4,0)" command |
IMU
In the example below the IMU is enabled. Every ultrasonic positioning
data comes with the acceleration and the angular velocity of the device
on 3 axis. The output from the LSM6DS0 is directed to the access console
with no calibration. Device 21 is at rest, and the values are 16 bits
with 12bit resolution, hence the lowest 4 bits are meaningless.
Provisions are made for the user to directly communicate with the
LSM6DS0, where the sampling rate can be controlled and etc. View the
LSM6DS0 manual for details |
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| Please note that unit 21 is at rest, and there
is a rotational offset around the Z axis that should be calibrated to
zero. See LSM6DS0 for details. The IMU values are collected while the
ultrasonic wave is in flight. |