Siemens SIMATIC RTLS Instructions for use

09/2021
C79000-G8976-C529-06
SIMATIC RTLS
Localization systems
SIMATIC RTLS Localization Configuration
Application manual

SIMATIC RTLS Localization Configuration
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Legal information
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indicates that death or severe personal injury will result if proper precautions are not taken.
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The product/system described in this documentation may be operated only by personnel qualified for the specific
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information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

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Table of contents
English
1General.........................................................................................................................................................5
1.1 Audience and scope..............................................................................................................................5
1.2 Terms ....................................................................................................................................................5
1.3 Localization network..............................................................................................................................6
1.4 Localization............................................................................................................................................7
2Application ....................................................................................................................................................9
2.1 Localization configuration......................................................................................................................9
2.2 Program start-up....................................................................................................................................9
2.3 Drop-down menu options ......................................................................................................................9
2.3.1 Connect and disconnect......................................................................................................................9
2.3.2 Connection settings...........................................................................................................................10
2.3.3 Change password .............................................................................................................................11
2.3.4 Language ..........................................................................................................................................11
2.3.5 Search ...............................................................................................................................................12
2.3.6 Search options ..................................................................................................................................12
2.3.7 Check for update...............................................................................................................................13
2.3.8 Update picture automatically.............................................................................................................13
2.3.9 Clear log............................................................................................................................................13
2.4 Symbols in the hierarchic structure .....................................................................................................13
3Configuration ..............................................................................................................................................14
3.1 Overview..............................................................................................................................................14
3.2 Infrastructure devices ..........................................................................................................................15
3.2.1 Values on node .................................................................................................................................16
3.2.2 Further transponder settings.............................................................................................................18
3.2.2.1 States ................................................................................................................................................18
3.2.2.2 Distances to the nodes (only for TWR localization) ..........................................................................21
3.2.3 Additional parameters .......................................................................................................................22
3.3 Transponder groups ............................................................................................................................23
3.4 System.................................................................................................................................................24
3.4.1 State ..................................................................................................................................................24

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3.4.2 Network .............................................................................................................................................24
3.4.2.1 Activity of services.............................................................................................................................24
3.4.2.2 Bulk import ........................................................................................................................................24
3.4.2.3 Forcing writing ...................................................................................................................................25
3.4.2.4 Reset .................................................................................................................................................25
3.4.2.5 Value on node ...................................................................................................................................25
3.4.3 Services ............................................................................................................................................26
3.4.3.1 Measured value filter (only for TWR localization) .............................................................................27
3.4.3.2 Localization areas .............................................................................................................................29
3.4.3.2.1 Distance ............................................................................................................................................32
3.4.3.2.2 Proximity ...........................................................................................................................................34
3.4.3.2.3 Motion tracking..................................................................................................................................35
3.4.3.2.4 Presence at location..........................................................................................................................44
3.4.3.2.5 KalmanShared ..................................................................................................................................46
3.4.3.2.6 Linearized Kalman ............................................................................................................................50
3.4.3.2.7 Kalman inertial sensors.....................................................................................................................53
3.4.3.3 Maps..................................................................................................................................................60
3.4.3.3.1 Set up a map.....................................................................................................................................60
3.4.3.3.2 Toolbar ..............................................................................................................................................60
3.4.3.3.3 Walls (obstacles)...............................................................................................................................61
3.4.4 Views.................................................................................................................................................67
4Appendix ....................................................................................................................................................71
4.1 Error Messages on Connection...........................................................................................................71

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1General
Notice
The term "Anc
hor" is still used in the user interface of the Locating Manager and in this
manual.
However, this product is being phased out and can no longer be ordered. To
replace the hardware, use a gateway that can be operated without an Ethernet connection; it
offe
rs the same functionality.
1.1 Audience and scope
This manual outlines the operation of the client “localization configuration” of the “SIMATIC
RTLS Locating Manager V2.12.0.0”.
1.2 Terms
Below please find a description of important terms used in the context of localization networks:
Term
Description
Gateway
Infrastructure device used with Ethernet
Transponder (TAG)
Mobile device to be localized in RTLS localization network
Infrastructure devices
Gateways
Nodes
All gateways and transponders of an RTLS localization network
Locating Manager server Software that processes the localization data into position data that can be visualized
Client
Software for management and control of the RTLS localization system and the nodes
Localization
Position determination
Ranging
Distance measurement between a transponder and a gateway
Position calculation Calculation performed by the Locating Manager server of the position coordinates based on
the localization data and various filters
Visualization
Graphical representation of the determined position data
Exploration Automatic search process to find unknown, for example, newly installed nodes within the
radio range of the RTLS localization network
MHI Multi-hypothesis initialization
Determines the final position from multiple individual positions
TWR Two-Way Ranging
Determines the time of the UWB signal and calculates the distance between the nodes
TDOA Time Difference of Arrival
Time-based process to determine the positions of the transponders
UWB Ultra-wideband
Radio technology with wireless transmission

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1.3 Localization network
The technical capabilities of accurate positioning of moving or moved objects, especially inside
buildings, develop swiftly. This opens up a plethora of new applications, e.g. in the areas of
logistics as well as medical and safety technology.
Localization systems are utilized for warehousing documentation and consignment processes,
automated disposal and maintenance processes within depot management systems (public
transportation) as well as personnel protection in danger areas.
•Transponders
The transponder is a movable device considered for localization within the localization
network. Due to various designs, people can carry them and they are attachable to
vehicles, devices, pallets or other objects. Furthermore, it is possible to transmit customer-
specific data from and to transponders.
•Gateway
Like anchors, gateways serve as reference points for the localization network. Additionally,
they possess an interface for IT-infrastructure connection (Ethernet). The IT-infrastructure
exchanges localization information and customer-specific data between the infrastructure
devices and the Locating Manager server. The utilization of several gateways is
recommended for larger localization networks. Thus both the number of transponders that
can be active simultaneously and the availability of position information can be increased.
•Anchor
Anchors serve as reference points for the localization. Fixed at steady positions within the
localization network, they enable the collection and transmission of localization data to the
Locating Manager server via other anchors and gateways.

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•Localization server
The Locating Manager server computes the positions of the transponders. The server has
interfaces to supply position information (as well as any other application-related data) for
visualization, logistics applications, mission planning and further applications. The Locating
Manager supports typical database interfaces like SQL-Server, Oracle etc. as well as
TCP/IP.
Furthermore, customer-specific control information can be transmitted to the transponders
via the Locating Manager server (digital in- and output).
•Visualization
It is possible to visualize the Locating Manager server-computed transponder positions and
customer-specific data in 2D. The visualization can be based on floor plans, terrain
surveys, satellite images, 2D/3D models or other images.
1.4 Localization
Notice
Only experienced and skilled users may arrange the infrastructure devices.
Localization is based on a three-dimensional coordinate system. The coordinate axes x and y
define the area, z is the height.
To show the floor plan of a room in which an object is to be located.
The infrastructure devices must be arranged according to certain rules within the monitored
room.
•At least four infrastructure devices should be reachable for the transponders at each point
of the monitored area.

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•A permanent and direct line of sight between transponders and infrastructure devices is
advisable.
•The radio systems (anchors and gateways) must be spread evenly in the monitored area.
•We recommend to arrange the infrastructure high up in the room, if possible, to ensure
undisturbed transmission.
•The antennas of all infrastructure devices must be attached upright.
•The infrastructure devices must not be mounted hidden, e.g. behind a wall.
•The infrastructure devices must not be mounted in front of electromagnetically reflective
surfaces (radiator, sheet).
The coordinate origin must be set at a prominent spot, for instance one of the corners of the
monitored area (as shown in the example below), though the center of the room, too, is a viable
option. The latter case will result in negative values for the X and Y coordinates of some
devices.
The device positions must be specified in the coordinate system.
In the example above the gateway “MyGateway_1” has the following coordinates: X=940 cm,
Y=650 cm and Z=height above XY-plane.
The position of the "MyTag_01" transponder is calculated based on the localization data by the
Locating Manager server.

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2Application
2.1 Localization configuration
The client “Localization Configuration” serves the purpose of setting the parameters of
gateways, anchors and transponders. Furthermore, the client enables to parameterize
algorithms and methods for the localization of transponders and to edit environment models
(maps, walls). This includes, for instance, the definition of transponder-groups or the
parameterization of the transponder’s motion model.
Computed distances and positions can be displayed for every single transponder.
2.2 Program start-up
The client “Localization Configuration” (LOCConfig.exe) can be started under “Start -> All
Programs > SIMATIC RTLS Locating Manager > Clients > Localization Configuration”.
2.3 Drop-down menu options
2.3.1 Connect and disconnect
After starting the program, establish a connection to the Locating Manager by pressing the
icon. All devices (gateways, anchors, transponders) set up will be displayed
thereafter. Alternatively, the connection can be established via the drop-down menu (“File >
Connect”).
Roles can be assigned to additional users with the "User configuration" client. If the user is an
Active Directory user, the "Domain" field must be filled in.

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If the user is not an Active Directory user, this field must remain empty.
The status bar at the bottom left of the GUI displays the connection status.
The connection icon will switch to as soon as a connection has been established,
thus confirms the connection. The red icon signals the lack of a connection.
An error message will be displayed after approximately 20 seconds in case the client failed to
connect to the Locating Manager server. The connection icon switches back to , the
status bar will read . A list of various error messages is attached to this
document (see 4.1).
2.3.2 Connection settings
Insofar as no valid connection to the Locating Manager has been set, enter the connection
parameters accordingly. The default host name is “localhost”, the default port is 9500. The host
name is the name of the server within the network the Locating Manager server is installed
onto. These settings can be altered within the drop-down menu under “Options > Connection” at
any time.

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Provided that the Locating Manager server has been installed on the same computer as the
client localization configuration, “localhost” can be set as “Host name or IP”. These are the
default settings. Otherwise, enter the Locating Manager server’s network name or the IP
address.
Notice
Ensure that communication between the Locating Manager server, the infrastructure and the
current cl
ient is not blocked by a firewall or incorrect configuration on the local network.
2.3.3 Change password
The current (logged in) user’s password can be changed under “Options > Change
password…”.
Notice
The password is valid for
access of this user to all clients within the Locating Manager.
2.3.4 Language
The language settings of the GUI can be switched from German to English and vice versa
under “Options > Language”.

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2.3.5 Search
It is possible to search for any term using the drop-down menu option “Options > Search”.
In case of distinct search results, the found device will be highlighted in the main window
(hierarchic structure) immediately. Should there be more than one search result, the result
marked in the search result window will be highlighted in the main window. Using the F3 key,
you can switch from one result to the next.
2.3.6 Search options
The query can be narrowed down to particular node types, transponders or certain text fields via
“Options > Search options”. The selectable text fields concerning the transponders are
individually allocable in a particular transponder’s view or using this client.
The window “Search options” can also be prompted by pressing the icon “Options” within the
search window (2.3.5).

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2.3.7 Check for update
Confirm this option to check whether a different known version of the client is available on the
server.
2.3.8 Update picture automatically
If activated the client will automatically check for updated pictures (for any visualization) upon its
start and implement them automatically, too.
2.3.9 Clear log
Messages in the log window (bottom right of the GUI) can be deleted by pressing “Options >
Clear log”. New messages will be displayed instantaneously thereafter.
2.4 Symbols in the hierarchic structure
The operational status of devices can be read from the symbols in the hierarchic structure.
These symbols are the same in all clients displaying anchors, gateways and transponders.
Anchor
Gateway
Transponder
Description
Device is offline, sends no life-sign
Device is online and operational
Device is online and operational, but signals undervoltage (Check
power supply! Replacing batteries or charging accumulator).
- - Transponder is online an operational
- - Transponder is online and operational, but signals undervoltage
(Check power supply! Replacing batteries or charging accumulator)

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3Configuration
3.1 Overview
The localization configuration client enables to:
•configure gateways
•configure anchors
•add and configure transponder-groups
•configure transponders
•create, configure or alter localization areas
•set up and arrange maps
•Configure initial position determination
The various sections of the hierarchic structure can be opened by pressing the plus-sign or the
respective toolbar-button.

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3.2 Infrastructure devices
The settings described below concern, unless stated otherwise, all infrastructure devices,
gateways, anchors and transponders.
The parameters of a particular device can be altered by selecting it in the hierarchic structure on
the very left of the screen.
The network address provided in the view of a particular device represents its radio address
within the Locating Manager. It cannot be altered. This address is printed onto most labels stuck
to the housing of every device and has to be entered manually whenever a gateway or an
anchor has been added to the system manually. Wireless addresses of transponders are
automatically added as soon as transponders are sending their signs of life to the Locating
Manager.
The name of the device can be chosen freely.
The internal and external voltage values are shown for information only. External voltage is the
voltage transmitted from outside to a device, for example by a power supply unit. Internal
voltage, on the other hand, describes the status of a device-internal voltage supply, such as
batteries or rechargeable batteries built into the device. The voltage value shown in each case
depends on the device type being used.
The time displayed for the last sign of life received by the device as well as the IP address and
the port of the gateway is for information only.
The spatial position of every single gateway and anchor (nodes) has to be entered manually as
its x, y and z coordinates, unless the coordinates have been imported from a .csv-file using the
network configuration client. This obviously does not apply for transponders which are the
locatable devices of the Locating Manager. The node’s position refers to a freely selected point
of origin (as described above in 1.3), which is the reference point for all the measurements and
the visualization.
The state of the digital entrances of a device is displayed in the view “In-/Outputs” distinguishing
physical and virtual entrances. Virtual entrances are signals computed by the server, physical
entrances represent a device’s actual digital signals. The current state of an entrance is shown

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as “Off” or “On” , though entrances not present on a certain device will always be shown as
“Off”. The information on the states displayed is based on the last sign of life sent by the device.
A list of the localization areas a gateway or an anchor is configured for will be put out in the log-
window by pressing the button “List areas”.
In the case that any changes were performed within the upper part of the input screen, it is
mandatory to press “Save”. Otherwise all changes will be discarded.
3.2.1 Values on node
The following applies to the "Values on the node" described below: they are displayed by
pressing the "Read" or "Read all" button; they are set to the default value with the "Standard"
button; the can be specified with the "Set" button. To enable the newly set values, the device
must be restarted with the "Reset" button.
In order to possibly compensate for different tolerances of device variants, each wireless
module has a specific calibration value, which mainly depends on the antennas and cables
used. The respective list value must be entered in the corresponding field. The default value "0"
refers to the antenna connection socket without antenna and cable. For devices with different
wireless technologies, this parameter is available for each technology.
The life-sign interval determines the time interval of life-signs being sent from the device to the
server. Life-sign intervals of transponders can be set differently for every state. This is explained
in detail below (see 3.2.1.1).
A device’s current transmission strength is determined by the value in the input field
“Transmission output power”. You can select the transmit power from a drop-down list; the
transmit power can be different, depending on the transponder design.

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Notice
When
entering the transmit power, you must take into account the antenna gain. Make sure
that th
e standard approved for your country is not exceeded.
For devices with UWB functionality, the channel is selected in a selection menu.
To use a transponder for localization, the check mark must be set in the "Localization" box.
The "Forward error correction" improves the interference immunity of the data transmission for
CHIRP devices within the wireless network. This setting must be the same for all devices in the
localization network, i.e. all "on" or all "off". This option is only available for CHIRP devices. The
following table provides an overview of all devices and their localization methods.
Localization methode Operating frequency
PULSE (UWB) PHASE CHIRP UWB PHASE CHIRP
TWR
(EU)
TWR (US /
CHN / CAN)
TDOA TWR TWR 4 / 6 GHz 2,4 GHz 2,4 GHz
RTLS4030G X X X X - X X -
RTLS4430G - - - - X - - X
RTLS4030T - - X X - X X -
RTLS4060T X X X X - X X -
RTLS4083T - - X X - X X -
RTLS4084T - - X X - X X -
RTLS4460T - - - - X - - X
Transponder PCB
OEM PULSE
X X X - - X - -
Transponder PCB
OEM CHIRP
- - - - X - - X
Transponder PCB
OEM AC
- X X X - X X -
Notice
For the Locating Manager to work pr
operly, it is mandatory that the "Forward error
correction" is
set to the same value for all devices. Devices with different settings are not
loc
alized by the system.

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3.2.2 Further transponder settings
The transponders are the movable units within the localization system. Their position is
determined by the anchors and gateways. In the tree topology under “Transponder” >
Transponder group > Transponder you can specify further settings.
The input field “Descriptions” allows entering text according to your requirements.
The input field “Antenna position” is only relevant for transponders where the antenna is not
screwed onto the device directly, e.g. transponders installed in vehicles. In this case the
distance between antenna and transponder has to be entered.
The maximum anchor error determines the number of communication errors permissible
between a transponder and a distinct node until a transponder terminates its attempts to
communicate with said node. The transponder’s internal error counter will be reset to zero as
soon as it recognizes the node again at a later time. The transponder will then again try to
communicate with the node.
In the case that any changes were performed within the upper part of the input screen, it is
mandatory to press “Save”. Otherwise all changes will be discarded.
3.2.2.1 States
The following takes effect for all “Values on node” described below: The current values will be
displayed by pressing the button “R”, “Read” or “Read all”. Pressing the button “D” or “Default”
will give out the respective default value, which can be set by pressing the button “S” or “Set”
respectively. In order to transmit altered parameters to the device, press the button “Reset”
subsequently. That button will be displayed in bold fonts insofar as any changes were made.
Transponders can assume different operating states. An operating state defines a set of
parameters that determine, among other things, the cycles for "heartbeats", distance
measurements and the use of measurement methods for one of the possible operating states.
Different options of these operating states are available depending on the transponder type. All
transponders have the "via motion sensor" operating mode. In this case, the current operating
state is controlled via the acceleration sensor present in the transponder.
Some transponders additionally offer the "via static configuration" operating mode. In this case,
the current mode of the transponder can be selected in the drop-down list via the "Operating
mode" parameter. If the "via static configuration" mode is selected, the current operating mode
is defined or switched over by the Locating Manager itself. Switching can also be performed via
customer-specific export modules. The availability of this function is described in the
documentation of the "Data Export Service" client. A total of seven different and switchable
operating states (parameter sets) are thus available. Their scope of parameters and functions

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correspond to those of the (acceleration) sensor-controlled states. The function thus enables
the transponder functions to be adapted to specific process situations or special local areas in
customer applications.
The group of parameters “Value on node” may differ in value and positioning depending on the
software and device version.
The type of transponder depicted below works within of the states depending on outside
influences. These states will be switched by electronic signals or movement of the transponder
and influence the energy consumption and network behavior of the device.
•Fast: The transponder is active and is being accelerated. All functions are active and the
transponder is localized.
•Slow: The transponder is not being accelerated or is in the idle state. The transponder is
not localized by default.
•Pre-Fast: The state between slow and fast serves the localization initialization after
switching from the state “Slow”.
•Pre-Slow: The state between fast and slow serves as the preparation for the idle state.
•User
The state that is used for the initial position determination.
•Charging station:
A transponder that is operated via an accumulator, is located in the charging station and is
currently being charged.
•The states AMA 1... AMA 7 are available for the configuration. These states can be used
for specific projects.
While the switching of the states (Fast, Slow, Pre-Fast, Pre-Slow and Loading Station) is
performed by the transponder itself, the states AMA 1 to AMA 7 can be switched via an
interface (e.g. ExportAVT) on the transponder.
An interval (in ms) or cycle, a truth value or a static value is set for the various localization
activities of the transponder for each of the states:
•The “Node search interval in ms” specifies the frequency of the transponders search for
anchors and gateways in its vicinity. For some transponders, this value can be set to 0. If
the value is set to 0, the transponder decides independently when to perform the search.
•The “Ranging cycle length in ms” specifies how frequent the distance s from the
infrastructure devices to the transponder is measured.
•The line “Localization” displays whether a tranponder is activated for localization in a
particular state.

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•The "sign of life" specifies the time intervals within which the transponder sets up active
communication to the server.
•The “Measuring cycle” specifies how often within a measuring cycle the distance to a
certain node is measured.
•The “Duration in state in ms” specifies after which time interval the transponder switches to
the next state. For states that last 0 ms, the change to the next state is automatic.
•The "Blink active state" indicates whether the transponder sends the blink packet. For
TDOA locating, the time difference between the sent and received signal is calculated by
the devices.
•"Blink cycle state in ms" specifies how often the transponder sends the blink packet.
•Reduced transmit power for flashes
Specifies how much the transmit power should be reduced when sending blink packets.
The value 0 stands for no reduction.
The input fields “Number of nodes” (only for TWR localization) specify the number of nodes
utilized for the localization. At least four nodes are required in order to determine an accurate
position.