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Run Demo

Pre-checks

Ensure that you have:

  • Installed the required software on your PC
  • Configured the tracelet parameters
  • Connected the tracelet to the LTE/Wi-Fi router
  • Mounted the tracelet on the vehicle
  • Powered the tracelet and router via the external power bank

Verify positioning in Easyplan

  1. Open Easyplan and select your site (building).
  2. Click the Positioning icon (bottom-right) and choose Start Remote Positioning.
  3. Confirm that the vehicle position appears on the map.

Easyplan visualizes three positions:

  • Orange – UWB subsystem
  • Blue – GNSS subsystem
  • Purple – Fused position

Easyplan markers

Check quality metrics in Grafana

Open http://localhost:3000 and navigate to the Single Tracelet Details dashboard. Review the key metrics:

Metric Description
Wi-Fi strength Signal strength reported by the tracelet along with the last bytes of the connected AP MAC address.
Connected to localization server Indicates whether the tracelet communicates with the localization server (your PC).
Missing ACKs from localization server Highlights weak connections when acknowledgements are missing.
Connected to NTRIP caster Shows if correction data is received from the configured NTRIP source.
Sensor fusion state Reports which subsystem currently feeds the fused position (UWB or GNSS).
GNSS/Satellites in view Number of satellites per constellation.
GNSS/Reference station ID of the GNSS reference station in use.
GNSS/Sensor fusion status Indicates whether the GNSS fusion algorithm is active.
GNSS/Programmable gain amplifier Current gain setting used by the GNSS receiver.
GNSS/Heading Heading of motion and vehicle from GNSS.
GNSS/Fix type Fix type (2D, 3D, RTK, etc.).
GNSS/Boot type Type of the last GNSS boot (cold, backup, software).
GNSS/Accuracy Estimated accuracy of the GNSS fix in metres.
GNSS/Speed Speed reported by the GNSS subsystem.
UWB/Fix type Current UWB fix type (UWB or DR).
UWB/X/Y position Planar position reported by the UWB subsystem.
UWB/Horizontal position error Horizontal position error reported by UWB.
UWB/Position validity Indicates whether the current UWB position is valid.
Tacho/Vehicle speed Speed derived from the wheeltick signal.
Tacho/Mileage Distance travelled based on wheeltick input.
Ignition Vehicle ignition status.

Test drive scenarios

GNSS positioning

  • Park the vehicle with an unobstructed sky view and wait a few minutes.
  • Confirm the blue GNSS marker in Easyplan.
  • In Grafana, verify:
    • Connected to NTRIP Caster is true
    • GNSS/Fix type reports RTK
    • GNSS/Satellites in view shows more than 25 satellites in use
    • GNSS/Accuracy is below 1 m
  • Drive several hundred metres, including straight segments and curves.
  • Check Grafana metrics:
    • Tacho/Vehicle speed matches the actual speed
    • GNSS/Sensor fusion status equals FUSION
  • In Easyplan, confirm that the recorded track matches the driven route.

UWB positioning

Drive into the UWB-covered area. The orange marker should appear in Easyplan.

Handover from UWB to GNSS

When moving from UWB coverage to open sky, the UWB track continues until accuracy degrades. Once GNSS is reliable again, the fused (purple) position transitions to GNSS.

Note

The current UWB dead-reckoning implementation stops when vehicle speed falls to zero and resumes when speed increases.

Handover from GNSS to UWB

Driving from open sky into the UWB-covered area keeps the GNSS track alive until UWB becomes available. The fused position then switches to the UWB solution.