Positioning system — reference setup

The typical deployment the project lets you build: 3 anchors + 1 tag, DS-TWR firmware.

Centilog module layout, the building block repeated across the system — **One building block, repeated** Every node in the system — anchor or tag — is a Centilog module driven by an ESP32. The same hardware everywhere.

Enough to measure a mobile tag's position within a 10×10 m area. The 3 anchors are placed at known coordinates and the mobile tag ranges against them via DS-TWR; trilateration is computed and shown in 3D in the browser. It all assembles from the public files — nothing is sold here.

Fabrication files Source code (GitHub)

Reference setup

To reproduce this deployment you need:

4× Centilog breakout modules — 3 anchors + 1 tag (build them)
4× ESP32-S3-DevKitC (or ESP32-DevKitC) wired to the modules over SPI
4× USB-C cables for power and programming
DS-TWR firmware: anchor sketch (IDs 1/2/3) + tag sketch, on GitHub
Coordinates of the 3 anchors, configurable over WiFi or serial

Expected accuracy

Anchor-tag distance	2 to 5 cm (1σ)
2D position (trilateration)	5 to 10 cm
Refresh rate	~10 Hz (configurable)
Coverage area	Up to 30×30 m depending on anchor geometry

To plan for. A Linux/macOS/Windows PC to run the Node.js relay and display the 3D viewer in your browser. WiFi required.

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