Haoru UWB200 questions found
Specifications and performance
Can Haoru UWB positioning modules measure angles?
UWB PositioningAnswer
The Haoru ULM3-PDOA anchor measures angles over a ±60° range with ±5° accuracy. Standard tags such as ULM1 and ULM3 measure distance only and do not measure angles.
Technology and positioning
Do Haoru UWB modules need antenna calibration before use?
UWB PositioningAnswer
The source describes the modules as ready to use without user calibration. Check the applicable manual for factory calibration and any application-specific antenna-delay calibration requirements.
Development and interfaces
Is the Haoru UWB positioning system open source?
UWB PositioningAnswer
The source describes the Haoru UWB positioning system as fully open source, including embedded code, PC application code and algorithms. Development manuals and video tutorials are supplied to help customers learn and develop quickly. Confirm the licensing and available files for the specific product and firmware revision.
Development and interfaces
How can I display trajectories from UWB data? Is open-source software available?
UWB PositioningAnswer
The source describes embedded code, PC application code and algorithms as open source, with development manuals and video tutorials. Confirm the supplied software and licensing for the selected product.
Product selection
Which Haoru products can quickly form a positioning system?
UWB PositioningAnswer
Haoru supplies modules and complete positioning solutions. Choose modules for product integration, or a complete system with anchors, tags and PC software for faster deployment. Select the configuration according to site size and indoor or outdoor use.
Development and interfaces
Why buy four anchors if three anchors can calculate a position?
UWB PositioningAnswer
1) Tags should operate inside the anchor coverage area. Four anchors can cover a rectangular area rather than a triangular one; the source describes an approximately doubled coverage area. 2) Wireless ranging can fail. With four anchors, a position can still be calculated when ranging to at least three succeeds; a three-anchor setup needs all three measurements to succeed. 3) A four-anchor, one-tag setup can be reconfigured as three anchors and two tags to learn multi-tag operation. 4) Four anchors can support 3D positioning when the installation spans length, width and height in a 1:1:1 arrangement.
Technology and positioning
How many tags can the positioning system track simultaneously?
UWB PositioningAnswer
The source gives a theoretical capacity of thousands of tags per anchor. Practical capacity depends on the required update rate and system configuration.
Development and interfaces
Can indoor UWB anchors communicate over a network?
UWB PositioningAnswer
Yes. The applicable Haoru UWB anchors support Wi-Fi network communication.
Technology and positioning
Does 3D positioning require four anchors?
UWB PositioningAnswer
At least four anchors are required for the referenced 3D configuration; six to eight are recommended. Distribute the anchors across length, width and height, ideally with a 1:1:1 spatial arrangement. The source links this 3D drone demonstration: https://www.bilibili.com/video/BV1KE6AYfEyU
Development and interfaces
Can I develop custom applications with Haoru UWB modules?
UWB PositioningAnswer
Yes. Haoru UWB products support application integration and custom development.
Development and interfaces
What is the UWB ranging accuracy, and what affects it?
UWB PositioningAnswer
The source specifies nominal ranging accuracy of ±5cm. Obstructions, particularly metal and the human body, can significantly reduce accuracy. Communication range varies by module; the source states that nominal accuracy is maintained within its specified coverage range under the applicable conditions.
Specifications and performance
What determines UWB update rate and end-to-end latency?
UWB PositioningAnswer
Per-tag update rate is how often a new measurement or position is produced for one tag. End-to-end latency also includes transmission, host processing and filtering. The fastest mode is not the default for every product or tag count. For example, the ULM1 manual specifies a 10 ms single-tag cycle at 6.8 Mbps, while the ULM3 manual describes a 12 ms slot at 850 kbps. Use the schedule for the actual model and firmware, then measure application latency under the intended tag count and network load. Do not treat radio data rate in Mbps as a position update rate.
Technology and positioning
How can I obtain or forward the positioning results?
UWB PositioningAnswer
See Section 6.9 of the HR-RTLS1 user manual for forwarding positioning results: http://rtls1.haorutech.com/download/HR-RTLS1_UserManual.pdf
Purchasing and support
Does Haoru positioning support custom development?
UWB PositioningAnswer
After purchase, follow the unpacking instructions to assemble and test the system. Once functionality and requirements are confirmed and receipt is acknowledged, customer support supplies the full technical package. The source states that products may be returned with their appearance protected if unsuitable, but that returns are unavailable after the complete design package containing source code has been supplied. Confirm the current terms with the team before ordering.
Technology and positioning
Does the standard positioning configuration use four anchors?
UWB PositioningAnswer
Yes. The referenced configuration consists of four anchors and one tag.
Development and interfaces
Is PC positioning software included?
UWB PositioningAnswer
Yes. Haoru provides the RTLS1 PC application with 2D/3D map display, real-time trajectory tracking and data forwarding.
Technology and positioning
Are three anchors needed to calculate a position?
UWB PositioningAnswer
Yes, for the referenced multilateration configuration, three anchors are used to calculate the target's position. Other architectures, including angle-based systems, have different requirements.
Specifications and performance
Does Haoru offer centimeter-level positioning products?
UWB PositioningAnswer
Yes. The source states that the product range supports positioning accuracy of up to 10 centimeters under the applicable operating conditions.
Technology and positioning
What positioning methods do the modules use?
UWB PositioningAnswer
Haoru supports TDoA (time difference of arrival), PDoA (phase difference of arrival, used for angle estimation) and TWR (two-way ranging), depending on the product and configuration.
Specifications and performance
What is the ranging accuracy of the modules?
UWB PositioningAnswer
The source gives centimeter-level ranging accuracy of 10 centimeters, with performance affected by factors such as obstructions and metal interference. Check the specific model's ranging specification.
Specifications and performance
What positioning accuracy can the UWB3000 achieve?
UWB PositioningAnswer
For 2D positioning in the XY plane, the source gives approximately 10cm accuracy in ideal open, unobstructed line-of-sight conditions. For 3D positioning, Z-axis height accuracy is approximately 30cm. Metal, walls, dense shelving and other obstructions can degrade performance, with source examples of errors from 50cm to 1m.
Development and interfaces
What should I check if positioning accuracy is poor?
UWB PositioningAnswer
Check: 1) anchor coordinates; 2) anchor mounting height, with the source recommending at least 1.8m above the floor; 3) ranging and communication quality for each anchor; 4) obstructions; 5) whether all anchors are coplanar; 6) whether the tag is far outside the area enclosed by the anchors.
Specifications and performance
How are positioning accuracy and operating range related?
UWB PositioningAnswer
The source specifies XY accuracy of 10cm (CEP95) and Z accuracy of 30cm (CEP95). Operating range does not directly determine positioning accuracy. The higher transmit power of LD600 can produce noticeable multipath effects in a small 5 × 5m area; the source recommends it for larger spaces.
Specifications and performance
What are the dimensions of the positioning system's main board?
UWB PositioningAnswer
The referenced board is 10cm long and 6cm wide. Verify the specific model and revision.
Specifications and performance
How long do the UWB tags operate on a battery charge?
UWB PositioningAnswer
The source gives five days for the wristband tag and fifteen days for the badge tag. Battery life depends on the applicable configuration and use.
Development and interfaces
Do packages 7499 and 5999 include the same technical materials?
UWB PositioningAnswer
Yes. The source describes the difference as hardware only; package 7499 includes six more tags than package 5999. Confirm current package contents before purchase.
Development and interfaces
Is C# source code available?
UWB PositioningAnswer
The source states that C# source code is not currently supplied. Contact the team to check current availability and future support.
Installation and deployment
Can I deploy a positioning system without custom development?
UWB PositioningAnswer
Yes. The referenced system can be used without custom development after setup. Its basic functions also support integration, and the source describes the software as open source. Confirm the software package and licensing for your model.
Technology and positioning
Does only the tag need an IMU, rather than the anchors?
UWB PositioningAnswer
Yes. For the referenced configuration, the tag needs the IMU; the anchors do not need that feature.
Technology and positioning
Can I mount an anchor on the side of a column?
UWB PositioningAnswer
Yes. The referenced configuration requires consistent mounting heights.
Product selection
Which components form a complete following system?
UWB PositioningAnswer
The source lists one front ULM3-PDOA anchor, one rear ULM3-PDOA anchor, one CTLFOLLOWV17 following controller, one HR-C400-80A DC motor controller, a 24V 20AH lithium battery and charger, either a ULM3-YK remote-control tag or ULM3-SH wristband tag, and matched motors and wheels for two-wheel or four-wheel drive. Four ultrasonic obstacle sensors and mounting/wiring accessories are optional. A packaged omnidirectional following kit is also available.
Purchasing and support
Is a UWB positioning module plug and play?
UWB PositioningAnswer
A module must be integrated with the other system components. The referenced indoor setup requires at least three anchors and one tag, plus the PC application. Follow the wiring, installation and video instructions. The source specifically states that this deployment is not simply plug and play.
Technology and positioning
What is the antenna gain?
UWB PositioningAnswer
The referenced UWB antenna gain is 3dBi.
Specifications and performance
What battery runtime does the LD600 provide?
UWB PositioningAnswer
The source gives eight hours for the referenced configuration.
Development and interfaces
How does the badge tag's SOS function work?
UWB PositioningAnswer
Press the button twice in quick succession to toggle the SOS alarm state. In the uplink protocol, the highest bit of the BATTERY field is 1 during an alarm and 0 when no alarm is active.
Development and interfaces
Where can I obtain the many-to-many positioning materials?
UWB PositioningAnswer
The source shares the HR-RTLS1 materials through Baidu Netdisk: https://pan.baidu.com/s/1gyc3d5KoyIlI9jFNW8Ervw?pwd=b0u3 . Open the link in Baidu Netdisk to access the files. Contact support if the service is inaccessible in your region.
Installation and deployment
What size are the ULM1 mounting holes?
UWB PositioningAnswer
The source gives a hole radius of 1.1mm for M2 screws.
Development and interfaces
How do the modules communicate with the PC software? Are protocols supplied?
UWB PositioningAnswer
The referenced modules communicate with the PC application over Wi-Fi, requiring a separately supplied Wi-Fi router. Communication protocols are provided, and the source describes the code as open source. Check the interface and licensing for the selected model.
Specifications and performance
Do UTM1 and LD150 include batteries?
UWB PositioningAnswer
Yes. The source states that both referenced configurations include batteries.
Operation and features
Can sleep mode be disabled or its timeout extended?
UWB PositioningAnswer
Sleep mode can be disabled. Press the power button three times; a brief green light indicates that sleep is disabled. Press it three times again to restore sleep mode.
Technology and positioning
Can four anchors provide a Z-axis coordinate?
UWB PositioningAnswer
Four anchors can produce a height coordinate in the referenced setup, but the source notes that its accuracy is limited.
Development and interfaces
Can a tag read its ranges to multiple anchors in one-to-many operation?
UWB PositioningAnswer
Yes. The tag can read its distance to every participating anchor.
Operation and features
Do the modules support only one-to-one operation?
UWB PositioningAnswer
No. The referenced modules support both one-to-one and many-to-many configurations.
Development and interfaces
Where is the TTL interface?
UWB PositioningAnswer
The interface is on the back of the device. See the PDoA manual: https://www.haorutech.com/download/ULM3-PDOA_UserManual.pdf
Technology and positioning
How can I assign tag_id values to two tags?
UWB PositioningAnswer
Set the ID with the DIP switches or change it later using a command. Devices are configured at the factory before delivery.
Development and interfaces
Is a finished BLE transparent-serial product supplied, or must I connect a Bluetooth board to TTL?
UWB PositioningAnswer
BLE transparent serial is not included. You can connect a separately purchased adapter to the TTL interface.
Specifications and performance
What is the update interval with two tags?
UWB PositioningAnswer
For the referenced one-anchor, two-tag setup, the default interval is 48ms. It can be adjusted to a minimum of 24ms.
Development and interfaces
What language is used for the PC application source code?
UWB PositioningAnswer
Qt/C++.
Development and interfaces
Is an anchor with built-in Wi-Fi available?
UWB PositioningAnswer
The referenced answer states that no built-in Wi-Fi model is available. Contact support to check the latest hardware options.
Development and interfaces
Is there a macOS version of the PC application?
UWB PositioningAnswer
A native macOS version is not currently available. You can use a Windows virtual machine.
Troubleshooting and maintenance
How are anchors and wristband tags paired if several sets become mixed?
UWB PositioningAnswer
They are paired and labeled before delivery. Use the supplied stickers to identify the matching devices.
Technology and positioning
What is the maximum ranging distance?
UWB PositioningAnswer
The referenced long-range configuration supports up to 600m between an anchor and tag in open conditions. Obstructions and site layout reduce the practical range; the answer gives approximately 30–50m for a typical indoor environment. Select the range specification for the particular model.
Specifications and performance
Can the system calculate a height difference?
UWB PositioningAnswer
For the referenced configuration, distribute the anchors in a cubic spatial arrangement as shown in the installation guide to obtain a Z-axis coordinate.
Purchasing and support
Are custom-development materials supplied electronically?
UWB PositioningAnswer
Yes, through a shared download link. Assemble and test the system using the unpacking materials first. After confirming that the system meets your needs and acknowledging receipt, support supplies the full technical package. The referenced policy allows an unsuitable product to be returned with its appearance protected, but not after the design package containing source code has been supplied. Confirm current terms before ordering.
Company and partnerships
How many anchors should an indoor factory installation use?
UWB PositioningAnswer
Plan anchor placement from the floor plan and site photographs. A typical guideline is one anchor approximately every 30m, with additional coverage around obstructions. Assess separate rooms individually.
Technology and positioning
How many tags can be displayed simultaneously?
UWB PositioningAnswer
The software answer gives no theoretical display limit. As the number of tags increases, the update speed becomes slower.
Technology and positioning
Must I designate anchors and tags in distributed ranging mode?
UWB PositioningAnswer
No. In distributed ranging mode, all devices are modules rather than fixed anchors and tags. Each can measure its distance to the other participating modules.
Specifications and performance
Can ranging be performed between vehicles rather than only between a tag and anchor?
UWB PositioningAnswer
Yes, using distributed ranging. For vehicles 1, 2 and 3, vehicle 1 can obtain ranges 1–2 and 1–3; vehicle 2 obtains 2–1 and 2–3; vehicle 3 obtains 3–2 and 3–1.
Development and interfaces
Does the positioning module output serial data?
UWB PositioningAnswer
Yes. Section 7.1 of the PDoA manual documents the serial protocol: https://www.haorutech.com/download/ULM3-PDOA_UserManual.pdf . The referenced unobstructed-condition figures are ±5° angular accuracy and ±10cm distance accuracy.
Development and interfaces
Is source code supplied with the positioning modules?
UWB PositioningAnswer
Source code can be supplied. Confirm the available files and licensing for the selected module.
Technology and positioning
Is an Android application available for positioning?
UWB PositioningAnswer
An Android application can be provided for the supported configuration.
Operation and features
How much does the rechargeable LD600-I module weigh?
UWB PositioningAnswer
Approximately 30g for the referenced module.
Technology and positioning
How long does initial positioning take?
UWB PositioningAnswer
Within 100ms for the referenced configuration.
Installation and deployment
Can multiple positioning zones report to one terminal?
UWB PositioningAnswer
Yes. An IGA01-based network configuration can support this application.
Specifications and performance
What is the positioning data update interval?
UWB PositioningAnswer
For the referenced configuration, the default is approximately 2.8 seconds, adjustable to approximately 1.2 seconds. This is configuration-specific and differs from high-update-rate modes.
Technology and positioning
How many tags can an anchor identify?
UWB PositioningAnswer
The referenced answer gives no fixed upper limit. Practical capacity depends on the requested update rate and radio scheduling.
Specifications and performance
What area can one anchor cover?
UWB PositioningAnswer
For the TDoA UTM1 configuration, the stated maximum ranging distance is 150m and the positioning range is approximately 50m, under completely open, unobstructed conditions. Positioning requires the applicable multi-anchor layout.
Technology and positioning
Does 2D positioning require a strict cubic anchor arrangement?
UWB PositioningAnswer
No. The referenced 2D configuration uses four anchors and recommends a length-to-width ratio no greater than 2:1.
Products and applications
Can UWB be used for indoor drone positioning?
UWB PositioningAnswer
The referenced answer recommends 2D positioning. UWB-only 3D performance may be inadequate for the proposed drone application, so a complete 3D solution should be assessed separately.
Development and interfaces
Can a Raspberry Pi read the positioning information?
UWB PositioningAnswer
Yes, through serial communication.
Development and interfaces
Does the system store positioning information in a database?
UWB PositioningAnswer
Database storage is not built into the referenced implementation. You can add it through custom development.
Technology and positioning
Where are positioning logs stored?
UWB PositioningAnswer
In the log directory alongside the PC application's executable file.
Specifications and performance
How long do badge and wristband tags operate on a charge?
UWB PositioningAnswer
At eight hours of use per day, the stated runtime is approximately fifteen days for a badge tag and five days for a wristband. Both normally use motion detection and enter sleep when stationary.
Development and interfaces
Can the modules interface with a drone?
UWB PositioningAnswer
The modules output serial data. Check whether the flight-control system can read the relevant serial protocol. The referenced recommendation is 2D positioning; UWB-only 3D positioning needs additional assessment.
Technology and positioning
Is an LD150 test report available?
UWB PositioningAnswer
An accuracy test report is currently available for the referenced product.
Development and interfaces
How should the cable harness be connected?
UWB PositioningAnswer
Connect the Type-C interface to the ROS board's USB port.
Installation and deployment
Must a following anchor be mounted vertically?
UWB PositioningAnswer
Yes. Mount the referenced anchor vertically.
Technology and positioning
What angular coverage does a following anchor support?
UWB PositioningAnswer
One referenced anchor covers 120°. Two anchors combined with distance-based selection can provide 360° following coverage.
Technology and positioning
How is the wristband used as a tag?
UWB PositioningAnswer
The wristband itself is a UWB tag.
Technology and positioning
What power supply do the modules require?
UWB PositioningAnswer
The referenced module requires 5V, with a 5V 1A supply.
Technology and positioning
Do the modules expose IO pins?
UWB PositioningAnswer
LD150 and LD600 include reserved IO interfaces.
Development and interfaces
Can the module firmware be programmed?
UWB PositioningAnswer
Yes. The referenced code is open source and can be programmed using Keil. Confirm the supported model and available firmware package.
Development and interfaces
Does the positioning module contain a processor?
UWB PositioningAnswer
Yes. It contains a GD32 processor, described as compatible with STM32 for the relevant implementation. Check the firmware and pinout compatibility of the specific device.
Technology and positioning
Does the ULM1-SH wristband include an audible and visual alarm?
UWB PositioningAnswer
No. ULM1-SH does not include that alarm. Choose the dedicated audible and visual alarm product when required.
Technology and positioning
Is Android test code available?
UWB PositioningAnswer
Android code is available for the supported ToF solution only.
Technology and positioning
Can I develop an app for real-time positioning tags?
UWB PositioningAnswer
Yes. Application development for supported real-time positioning tags is possible.
Operation and features
Can an anchor be powered by a power bank?
UWB PositioningAnswer
Yes, for the supported power-input configuration.
Technology and positioning
Can an anchor operate without an IMU?
UWB PositioningAnswer
Yes. The anchor does not require an IMU in the referenced setup.
Specifications and performance
What is the operating temperature range?
UWB PositioningAnswer
The referenced module is specified for −20°C to 70°C. Verify the specification for the selected model.
Development and interfaces
Does the output include XY coordinates and elevation/rotation angles?
UWB PositioningAnswer
See the data protocol in the LD600/LD600-I manual to determine whether it meets your requirements: https://www.haorutech.com/download/LD600(-I)_UserManual.pdf
Development and interfaces
Is an interface supplied that directly converts data to (x, y, heading)?
UWB PositioningAnswer
That interface is not currently supplied. Contact support about integration options and current availability.
Technology and positioning
Is the final output (x, y, heading)?
UWB PositioningAnswer
The referenced tag outputs its ranges to the anchors and its own three-axis acceleration, three-axis angular velocity and three-axis attitude angles.
Technology and positioning
Is heading or attitude information available?
UWB PositioningAnswer
The LD150-I tag includes an IMU and can output its own attitude.
Troubleshooting and maintenance
Can the system display live centimeter-level trajectories on an outdoor football field?
UWB PositioningAnswer
Yes. The referenced best positioning accuracy is approximately 10cm under suitable conditions.
Development and interfaces
Is a DW3220-based anchor compatible with a DWM3000 wristband tag?
UWB PositioningAnswer
Yes, for the referenced compatible firmware configuration.
Technology and positioning
Can positioning be used for sports tracking and video recording?
UWB PositioningAnswer
Yes. Customers have explored similar applications using four anchors around the area and a wristband tag worn by the athlete.
Technology and positioning
Is an anchor-calibration algorithm supplied?
UWB PositioningAnswer
Yes. An anchor-calibration algorithm is supplied for the supported positioning system.
Technology and positioning
Can anchors and tags connect to a mobile phone?
UWB PositioningAnswer
Yes, through the supported interfaces and application configuration.
Installation and deployment
Where is the ULM1-MK power interface?
UWB PositioningAnswer
Use the header pins marked for 5V and the indicated return terminal. Check the exact pin labels and wiring in the product manual before connecting power.
Development and interfaces
Can IGA01 communicate with LD600?
UWB PositioningAnswer
Yes. IGA01 and LD600 can communicate in a compatible configuration.
Technology and positioning
Does IGA01 include a PoE power module?
UWB PositioningAnswer
The original answer distinguishes IGA01 plug-in PoE arrangements from the IGA02-EP external-antenna option. Confirm the exact PoE and antenna configuration for the selected hardware revision.
Company and partnerships
What is Haoru's dual-antenna PDoA patent?
UWB PositioningAnswer
Patent: UWB Positioning Anchor Circuit Based on Dual-Antenna PDoA Measurement. Patent number: ZL202421897250.5. Granted June 20, 2025. The patent belongs to Haoru Technology.
Company and partnerships
What is Haoru's low-temperature-drift clock patent?
UWB PositioningAnswer
Patent: UWB Positioning Anchor Circuit with a High-Precision, Low-Temperature-Drift Clock. Patent number: ZL202422092060.2. Granted June 27, 2025. The patent belongs to Haoru Technology.
Company and partnerships
What is Haoru's anchor self-calibration patent?
UWB PositioningAnswer
Patent: UWB Anchor Self-Calibration Method Based on Multidimensional Scaling. Patent number: ZL202311329954.2. Grant announcement date: July 30, 2024. The patent belongs to Haoru Technology.
Technology and positioning
What roles can LD600 perform?
UWB PositioningAnswer
LD600 can be configured as an anchor or tag. Check the applicable manual for the specific configuration.
Product selection
What should I specify when choosing an RTLS development system?
UWB PositioningAnswer
Specify whether you need distance measurements, area coordinates or relative range and direction; then provide the operating area, tag count, per-tag update requirement, accuracy definition, host interface and installation constraints. HR-RTLS1 supports the documented TWR development path, while HR-RTLS4 documents a networked TDoA system. PDoA following applications have different hardware and control requirements. Identify any legacy RTLS2 or RTLS3 equipment by its hardware and firmware version before requesting compatibility or source-code access. Ask for a delivery list covering the actual modules, software, manuals and licence scope.
Product selection
What is the difference between UTM1 and ULM1?
UWB PositioningAnswer
The original answer describes UTM1 as a tag module and ULM1 as an anchor module. Roles are model- and firmware-specific; use the relevant product manual to confirm them.
Specifications and performance
What update rate do the positioning modules support?
UWB PositioningAnswer
The fastest referenced single-tag rate is 100Hz, or 10ms per update. Overall system latency increases as the number of tags increases.
Specifications and performance
What ingress-protection ratings are available?
UWB PositioningAnswer
The original answer gives IP31 for standard modules, with IP65/IP67 enclosed options for outdoor or damp environments. Verify the enclosure and rating of the exact product.
Development and interfaces
What communication interfaces are available?
UWB PositioningAnswer
Supported interfaces include serial communication such as RS485 and TTL. A wireless serial adapter can connect a supported configuration to a PC.
Development and interfaces
What input voltage is supported?
UWB PositioningAnswer
Input voltage depends on the module. Check its manual for the exact range; appropriate system interfaces can be designed for common 24V/48V platforms.
Specifications and performance
What operating temperatures are supported?
UWB PositioningAnswer
The modules use an industrial wide-temperature design. Check the particular module's manual for the numerical temperature limits.
Technology and positioning
How does a two-anchor system determine whether the tag is in front or behind?
UWB PositioningAnswer
In the referenced logic, DIS0 < DIS1 places the tag on the front side and selects front following. DIS0 > DIS1 places it on the rear side and triggers a turn-around action. Check the exact field names in the controller protocol.
Purchasing and support
How can I connect a UWB module to a PC wirelessly?
UWB PositioningAnswer
Use a wireless serial adapter. The suggested adapter is from a third-party supplier; ask that supplier for connection support. Tutorial: https://www.bilibili.com/video/BV1v64y1C7aH/ . Referenced purchase link: https://item.taobao.com/item.htm?spm=a1z09.2.0.0.61e92e8dTwTlLk&id=635187095350&_u=c1s7j0g51dc
Company and partnerships
Does Haoru sell anchor tripods?
UWB PositioningAnswer
A temporary test can use wall-mounted anchors. Tripods are recommended for better placement and positioning performance. Haoru does not manufacture tripods, so direct purchase can reduce additional shipping costs. The referenced option is a 3m tripod with a pan/tilt head and phone clamp: https://detail.tmall.com/item.htm?_u=b1s7j0g8a92&id=623907684336&spm=a1z09.2.0.0.52d72e8djQpPlY
Technology and positioning
Are the UWB modules waterproof?
UWB PositioningAnswer
The referenced standard modules are rated IP31. IP65/IP67 enclosed options, including applicable IGA02-EP and ULM1-SH products, are available for outdoor or damp environments. Verify the exact enclosure rating.
Technology and positioning
Does Haoru supply complete positioning systems as well as modules?
UWB PositioningAnswer
Yes. Choose modules for product integration, or a complete solution containing anchors, tags and PC software for faster deployment.
Troubleshooting and maintenance
What should I check if STLINK cannot connect to the controller?
UWB PositioningAnswer
Check that the STLINK driver is installed and that the four SWD wires—VCC, SWDIO, SWCLK and GND—are correctly connected with good contact.
Development and interfaces
Why is communication range shorter than expected?
UWB PositioningAnswer
For long-range operation, support the anchor and tag at heights above 1.8m. Check for obstructions, strong electromagnetic interference and correct antenna installation.
Technology and positioning
How do obstructions affect positioning?
UWB PositioningAnswer
The source reports that LD600 can communicate through one solid wall, with approximately 30cm additional error, whereas ULM1/ULM3 are not suitable for ranging through a solid wall. Metal can strongly block UWB, especially close to a node. Glass can also affect measurements. Typical cardboard or wood up to approximately 10cm thick is described as less disruptive. Actual performance depends on materials and geometry.
Purchasing and support
Are additional test accessories required?
UWB PositioningAnswer
Basic power banks and data cables are included in the referenced package. Tripods are recommended for outdoor tests or more demanding accuracy and stability requirements; a maximum height of 3m is suggested.
Installation and deployment
How complex is installation? Does Haoru provide on-site construction?
UWB PositioningAnswer
A standard setup involves mounting and powering anchors, configuring network IP addresses and entering anchor coordinates. Applicable anchors support PoE, and tags operate after setup. Haoru mainly supplies positioning hardware, basic technical support and deployment guidance. Site surveys, layout design, cabling, commissioning and ongoing platform operations are normally handled by the customer or a professional integrator.
Development and interfaces
Can the PC software be used directly?
UWB PositioningAnswer
Yes. It can demonstrate the system without custom development after the standard setup.
Development and interfaces
Can I interface my own STM32 development board with the modules?
UWB PositioningAnswer
Yes. Supported modules expose TTL UART or SPI interfaces. Use a compatible MCU interface and the supplied protocol documentation.
Development and interfaces
Is a Python SDK or API available?
UWB PositioningAnswer
Yes. The development package includes a Python SDK for data parsing, coordinate calculation and PC-application integration.
Development and interfaces
What operating systems are supported for development?
UWB PositioningAnswer
Development can use Windows, with Windows 10/11 recommended, and Linux with ROS1/ROS2. The PC application mainly runs on Windows. Data-parsing methods and solver libraries are available for Linux and macOS; embedded development can use a suitable cross-platform environment.
Development and interfaces
Can the modules provide ROS data?
UWB PositioningAnswer
Supported modules such as ULM3-PDOA have ROS1/ROS2 drivers. In a following vehicle, core control logic runs on STM32; an integrator can port suitable logic to ROS as required.
Troubleshooting and maintenance
How can I learn environment setup and firmware programming?
UWB PositioningAnswer
Detailed tutorials cover embedded development environment setup and firmware updates without a development environment. Search for Haoru Technology on Bilibili or contact support for the appropriate guide.
Purchasing and support
When is the full technical design package supplied?
UWB PositioningAnswer
Complete the unpacking setup and confirm the system meets your requirements. After receipt is acknowledged, support supplies the full technical package. The referenced policy states that returns are unavailable after the package containing source code has been supplied. Confirm current sales terms before ordering.
Development and interfaces
Are custom-development documents and code available?
UWB PositioningAnswer
The applicable development package contains embedded Keil projects, PC application source code and hardware schematics in PDF/Sch formats. Support supplies the download link after receipt confirmation. Files and licensing vary by product.
Development and interfaces
Does the communication protocol use JSON or binary data?
UWB PositioningAnswer
The supported implementation provides JSON for readable debugging and binary formats for efficient integration. Switch formats through the web configuration interface or commands where supported by the firmware.
Development and interfaces
How is positioning data transmitted?
UWB PositioningAnswer
Interfaces depend on the module. Portable tags and anchors commonly provide USB-TTL output. IGA01-EP/IGA02-EP support Ethernet, PoE and UDP for networked installations.
Development and interfaces
What does the gateway module do?
UWB PositioningAnswer
A normal test setup connects a module to the PC by USB. The gateway adds Wi-Fi communication so the module can communicate with the PC wirelessly. It is an optional communication accessory rather than a requirement of UWB positioning itself.
Troubleshooting and maintenance
How can I connect a positioning module to a PC without a cable?
UWB PositioningAnswer
Use a wireless serial adapter. The recommended third-party products are references only; contact their suppliers for adapter-specific connection support.
Technology and positioning
How can I restore a module's factory configuration?
UWB PositioningAnswer
Many supported modules, including referenced IGA01-EP and ULM3-PDOA devices, have a reset button. Hold it for five seconds to restore factory settings, according to the applicable manual.
Development and interfaces
How do modules connect to other embedded devices?
UWB PositioningAnswer
Through the onboard UART-TTL interface.
Development and interfaces
How do the modules connect to a PC?
UWB PositioningAnswer
Through USB. In the referenced four-anchor system, only one anchor needs a USB connection to the PC.
Specifications and performance
How are the modules powered?
UWB PositioningAnswer
Most referenced modules use 5V DC through USB or a terminal. Wearable wristband and badge tags contain lithium batteries and support USB charging.
Specifications and performance
What is the standard operating temperature range?
UWB PositioningAnswer
The referenced standard range is −20°C to +70°C. Verify the chosen model's specification.
Development and interfaces
What communication range is available between an anchor and tag?
UWB PositioningAnswer
Suitable models can exceed 200m in open, unobstructed line-of-sight conditions. Walls, metal and indoor attenuation reduce practical coverage. The referenced indoor planning guideline is a 30–80m coverage radius per anchor, subject to the specific model and site survey.
Specifications and performance
How does configured tag capacity affect UWB update intervals?
UWB PositioningAnswer
In the documented TDMA configurations, each configured tag slot contributes to the total cycle, including slots whose tags are absent. At 110 kbps, the ULM1 manual describes 28 ms per tag slot: four slots produce a 112 ms cycle, or about 8.9 updates per second per tag. At 850 kbps, the ULM3 example uses 12 ms per slot: eight slots produce a 96 ms cycle, or about 10.4 updates per second per tag. These examples apply to their specified modes; other firmware and configurations require their own schedule. They describe update intervals, not total application latency.
Technology and positioning
Can I adjust the tag update interval?
UWB PositioningAnswer
The source gives a default interval of 112ms and a fastest interval of 10ms through firmware settings. It labels the associated radio rate as 6.8Mhz; that unit requires confirmation and should not be treated as an update frequency.
Specifications and performance
What battery or power-bank runtime is available?
UWB PositioningAnswer
Runtime depends on battery capacity and positioning frequency. Referenced ULM1 power-bank configurations give approximately ten hours for an anchor and fifteen hours for a tag. LD150/LD600 internal-battery configurations give approximately eight hours for an anchor and twelve hours for a tag.
Purchasing and support
Does Haoru manufacture tripods?
UWB PositioningAnswer
No. A separately purchased 3m livestreaming tripod with a pan/tilt head and phone clamp is recommended.
Products and applications
Can the modules be used with drones and AGVs?
UWB PositioningAnswer
Yes. Haoru products have been used in customer drone and AGV applications. The complete application and required positioning dimensions must be assessed for each platform.
Development and interfaces
Can the modules interact with an iPhone?
UWB PositioningAnswer
The referenced ULM3-FIRA configuration supports compatible iPhone 11 and later devices running iOS 15+ through FiRa-related integration. Standard configurations do not provide that capability. Verify the applicable protocol and firmware.
Specifications and performance
Are IP65/IP67 module options available?
UWB PositioningAnswer
Yes. Applicable enclosed products such as IGA02-EP and ULM1-SH are available for outdoor or damp conditions. Verify the exact enclosure rating.
Technology and positioning
Do the modules have waterproof enclosures?
UWB PositioningAnswer
ULM1 has no enclosure in the referenced standard configuration. LD150/LD600 have non-sealed enclosures with external antennas and must not be used directly in rain.
Purchasing and support
How many modules should I buy?
UWB PositioningAnswer
Use two modules for one-to-one ranging, at least four for the referenced 2D system of three anchors and one tag, and at least five for 3D with four anchors and one tag. The answer recommends five modules for wider coverage and better ranging redundancy.
Operation and features
What is TDoA, and how do UTM1 and ULM1 differ?
UWB PositioningAnswer
UTM1 supports time-difference-of-arrival positioning for larger tag populations, with network integration as configured. ULM1 mainly supports two-way ranging/ToF. TDoA and TWR differ in scheduling and infrastructure requirements; select the architecture for the application's tag count and accuracy needs.
Product selection
Which module families are available?
UWB PositioningAnswer
The referenced selection separates DW1000-based products, including LD600 at 600m with a PA, LD150 at 150m and ULM1 at 50m, from DW3000-based products such as ULM3 at 40m, ULM3-PA at 300m with a PA and angle-measuring ULM3-PDOA. Ranges depend on operating conditions. See the module-selection table for detailed comparison.
Development and interfaces
Is the positioning system ready to use, or does it require development?
UWB PositioningAnswer
The system includes established positioning functions. Read position data through its interfaces for your application, or use the supplied functionality and available source code for custom product development.
Development and interfaces
How do the legacy RTLS1, RTLS2 and RTLS3 platforms differ?
UWB PositioningAnswer
RTLS1 is an open-source STM32 development kit for evaluation, low-level UWB work, product development and integration. RTLS2 is a closed-source deployment-oriented device with Ethernet and a web interface. RTLS3 is an open-source Arduino development kit with a lower learning barrier for evaluation and academic projects. These are platform-level descriptions. Confirm the hardware revision, firmware and delivered code/licence scope for an existing installation; the description does not imply that every connected module has open internal firmware.
Development and interfaces
What can a Haoru UWB positioning system do?
UWB PositioningAnswer
Haoru supplies UWB RTLS hardware and basic data interfaces for tracking people, vehicles and assets. Depending on the configuration and environment, it provides centimeter- to submeter-level real-time X/Y/Z position data. Integrate these interfaces into an MES, WMS, security platform or other application to implement trajectory tracking, geofencing and statistics.
Development and interfaces
Can I obtain positioning data on the same PC that runs the application?
UWB PositioningAnswer
Yes. View it in the HR-RTLS application or receive it through the data-forwarding interface on the local PC.
Company and partnerships
How do I forward HR-RTLS data to another host?
UWB PositioningAnswer
Open Data Forwarding in the PC application's Parameter Settings. Enter the destination host's IP address and port. Position results, including tag IDs and X/Y/Z coordinates, are forwarded by UDP. Use a network debugging tool listening on that port to verify reception.
Development and interfaces
Can tag data be read without internet access?
UWB PositioningAnswer
Yes. The positioning network is a local system; reading its data does not require an external internet connection.
Specifications and performance
Are ranges below 1m less accurate?
UWB PositioningAnswer
Short-distance ranging can be affected on DW3000-based modules such as ULM3 and ULM3-PDOA. The referenced answer states that performance is generally maintained above 0.5m, while distances below 0.5m can show larger errors due to antenna and signal-processing effects. Verify short-range behavior in the intended configuration.
Specifications and performance
Can positioning accuracy be improved further?
UWB PositioningAnswer
For the referenced hardware and algorithm, ideal-condition figures are approximately 10cm in 2D and 30cm on the Z axis. Further improvement may require additional engineering, such as UWB/IMU, LiDAR or vision fusion; denser or better anchor geometry; and improved filtering or calibration. These approaches must be evaluated rather than treated as guaranteed accuracy improvements.
Development and interfaces
Is the standard positioning solution a 3D system?
UWB PositioningAnswer
The standard solution mainly targets 2D floor-level tracking of people, vehicles and assets. Precise XYZ positioning requires suitable geometry: at least four anchors, with six to eight recommended, distributed across a roughly 1:1:1 space. Z accuracy degrades with obstructions or narrow and non-ideal layouts. For floor identification, assess separate anchor deployments on each floor and determine the floor in your application from anchor or zone IDs. The standard PC application does not provide a complete automatic multi-floor system; that integration normally requires custom development.
Technology and positioning
How can I tell when a module or power bank is fully charged?
UWB PositioningAnswer
On applicable internal-battery modules such as LD150(-I), LD600(-I), ULM1-GP and ULM1-SH, a blue charging indicator changes to green when charging completes. ULM1, ULM3 and ULM3-PDOA standard modules use an external power bank; follow that power bank's indicators, commonly flashing while charging and steady when full. Check the exact device's indicator definitions.
Purchasing and support
Can LD600 operate as either an anchor or a tag?
UWB PositioningAnswer
Yes. LD600 can be configured in either role. For example, a five-module order can be configured at the factory as four anchors and one tag.
Troubleshooting and maintenance
Why is UWB data sometimes lost?
UWB PositioningAnswer
Check obstruction and interference, including solid walls, metal, glass and dense vegetation. Low anchor mounting can allow people or ground-level objects to block the link; the referenced recommendation is above 1.8m. Move anchors to improve line of sight and check strong electromagnetic interference or metal reflections. See Section 6.3.3 of the relevant manual for obstruction effects.
Purchasing and support
Is CIR reference source code available?
UWB PositioningAnswer
The applicable development package includes CIR reference code and firmware, usually in Other Reference Code or a similarly named folder. Contact support if the files or link are missing.
Troubleshooting and maintenance
Can the standard positioning firmware output CIR information?
UWB PositioningAnswer
Positioning/ranging firmware and CIR acquisition firmware are separate. Modules normally ship with positioning firmware. To acquire CIR, program the compatible module, usually an anchor, with the dedicated CIR firmware. The two programs do not run simultaneously. Check the supplied reference package or ask support for the correct files.
Technology and positioning
What does a red indicator mean?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
On the referenced tag, a steady red indicator means low battery. Flashing red indicates a ranging request without an anchor response.
Company and partnerships
Where is Haoru Technology located?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Dalian, Liaoning Province, China.
Purchasing and support
Is express shipping available?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
The referenced domestic shipping service is SF Standard Express. Battery-containing wristbands require ground shipping and are not eligible for the faster air-express service. Ask the team about shipping to your destination.
Company and partnerships
Is this a Nooploop IPS product?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
No. Haoru's products are developed by Haoru Technology.
Purchasing and support
Can payment be made by bank transfer?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Yes. Contact the team for the company's bank-account details and payment arrangements.
Specifications and performance
What RF safety information is available for a wristband worn near the body?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Haoru states that product transmit power meets the applicable national safety requirements. Request the relevant product test and compliance documentation for your intended deployment and market.
Operation and features
How can I tell when the wristband is fully charged?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
A steady green indicator means fully charged on the referenced wristband.
Purchasing and support
How soon are orders dispatched?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
The referenced domestic dispatch target is normally within 48 hours, with orders placed before 17:00 dispatched the same day where possible. Confirm availability and destination-specific delivery arrangements.
Company and partnerships
Where is the factory located?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Dalian, Liaoning Province, China.
Products and applications
What battery runtime do the products provide?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Referenced figures vary by configuration: LD150/LD600 anchors approximately eight hours and tags twelve hours; ULM1-SH/ULM3-SH wristbands approximately ten days at eight operating hours per day and 10Hz; ULM1-GP badges approximately thirty days under the same conditions; ULM1 power-bank configurations four hours for an anchor and six hours for a tag; and a complete vehicle with a 24V20Ah battery carrying 100KG approximately eight hours or 15km. These figures differ from other answers; confirm the current product and operating settings.
Technology and positioning
Can customers evaluate the products?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
The referenced domestic purchase policy offers a seven-day return period for eligible orders. Confirm the terms for evaluation and international orders with the team.
Company and partnerships
What is Haoru's high-tech enterprise certification?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Certificate number GR202531200595, issued November 18, 2025, valid for three years.
Purchasing and support
Can replacement accessories be supplied?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Replacement batteries or damaged accessories can be arranged after verification of the delivery details. Component cost and shipping are normally paid by the customer.
Purchasing and support
How are product materials obtained?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
After purchase, an unpacking-material download link is provided, including assembly and test instructions.
Purchasing and support
Is OEM customization available?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Yes. Tiered quotations are available, including quantities of 10–50 sets and 51–500 sets.
Purchasing and support
What warranty is provided?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
The stated hardware warranty is twelve months. Manufacturing-related failures within the warranty period can be repaired or replaced without charge under the applicable warranty terms.
Technology and positioning
How are factory settings restored?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Use the supported mini-program function or the model-specific button sequence in the manual.
Development and interfaces
Can firmware be upgraded?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Yes. Supported controller firmware can be programmed using STLINK after setting up the required development environment.
Development and interfaces
What development support is available?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Development documents, supported SDK/API resources including Python, and the PC positioning application are provided for the applicable product.
Development and interfaces
Can the normal module firmware output raw CIR?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Normal ranging/positioning firmware outputs processed ranges or angles rather than raw channel impulse response data. CIR acquisition requires the compatible dedicated firmware described in the CIR development materials.
Operation and features
How is the wristband powered on and switched between following and stop?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Hold the button for three seconds. A flashing blue light indicates following mode; press once to switch to stop, indicated by flashing green on the referenced device.
Company and partnerships
Are discounts available?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Samples use the quoted fixed prices. The company focuses its resources on development and customer technical support and states a thirty-day price-protection policy for eligible purchases. Volume pricing is available above fifty modules. Contact the team for current terms and quotations.
Company and partnerships
Can a lost battery or damaged accessory be replaced?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Yes. Supply the recipient's name, phone and address for verification. Replacement cost and shipping are normally paid by the customer.
Technology and positioning
How long is technical support available?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
The referenced policy includes one month of product-related technical consultation. A paid extension is listed at RMB 149 for three months. Support beyond the company's products, including third-party integration questions, is not guaranteed. Confirm the current international support arrangement.
Purchasing and support
Where is the development package downloaded?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
An unpacking download link is supplied after purchase. Assemble and test the system, confirm that it meets your requirements and acknowledge receipt; support then supplies the full technical materials.
Purchasing and support
Is OEM customization eligible for volume discounts?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Yes. The quotation schedule includes volume tiers such as 10–50 sets and 51–500 sets. Larger quantities reduce unit cost. Discuss custom requirements and commercial terms with the team.
Purchasing and support
How long is the hardware warranty?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Twelve months under the stated warranty terms, with free repair or replacement for covered non-user-caused failures.
Company and partnerships
Does Haoru support volume purchasing and OEM customization?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Yes. Pricing varies with volume, including 10–50 and 51–500-set tiers. OEM options can cover configuration, appearance or functions. Request a quotation for the specific requirements.
Purchasing and support
Does modifying code affect the warranty?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Damage caused by user modifications to embedded firmware or hardware is excluded from free warranty coverage under the referenced warranty terms. Debug modifications on a development platform before vehicle installation.
Purchasing and support
How can I obtain software and technical materials?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
An unpacking download link is supplied first. After setup, testing and receipt confirmation, contact support for the full technical package.
Company and partnerships
Is custom development supported, and which files are open source?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Yes. Supported following-controller STM32 code and design files, including controller schematics, are available. The internal firmware of the PDoA anchor is proprietary and excluded.
Purchasing and support
How are faulty products returned or exchanged?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
For the referenced domestic policy, report a quality problem within seven days of receipt with the order number and description. After verification, a return or exchange can be arranged. Keep the original packaging; confirm the terms for your destination.
Purchasing and support
What is the product warranty period?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
Twelve months under the stated warranty terms, with free repair or replacement for covered non-user-caused failures.
Technology and positioning
Are PDoA module schematics supplied?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
PDoA module schematics are not currently supplied.
Purchasing and support
Do quoted prices include tax?
UWB Positioning, Automatic Following Kits, Following VehiclesAnswer
The referenced Chinese domestic prices include tax, and an electronic ordinary invoice can be issued. Ask the team about international quotations and invoice requirements.