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Ad Hoc Positioning System

Ad Hoc Positioning System—APS consists of multiple compact and mobile devices which are designed for getting real time location information of valuable personnel/asset indoor or outdoor. By utilizing Impulse Modulation technique and TDOA, each APS can get 3D Positioning of all nearby devices constantly even not in plain sight.

Application Field


SWAT (Special Weapons And Tactics)

Close Quarters Battle



Indoor Positioining


Special Force

Blueforce Tracking
Tactical formation


Tactical Marker (APS Tag)

Invisible Tactical Marker 

APS Features

Real time positioning with cm-dm accuracy

Resistant to multi-path effect and noise

Stable and long range for indoor/outdoor environment

Low power consumption transceivers

Positioning TRX Specification

Positioning TRX Item        Description
Key Features TechnologyImpulse Modulation
 RF Freq. Range 3.5 GHz to 6.5GHz
 No. of RF Bands 4
 Bandwidth 500 MHz
 Transmitter Output Power -35 dBm to -62 dBm
 Receiver Sensitivity -102 dBm
 Positioning Method TDOA(Time Difference of Arrival)
 Max Range Between Two Nodes   300 m (Line-of-sight)
 Accuracy 10-20 cm
 Position Update From 65s to 100ms
 Data Rates 110kbps
 Noise Resistance Resistant to Multi-path effect and Noise
 Min. Number of Devices to Form a Network3
Power Consumption
Supply Voltage2.8V to 3.6V\
 Power Consumption TX:31mA(typ.)
BatteryEmbedded Battery Standard: 600mAh
 Battery Life 120hours(600mAh): position update once per second.
SecurityModulation Impulse Modulation: indistinguishable from RF noise.
 Encryption AES 128/256
Appearance W x L x H 35x45x9 mm
Shala BarreraWeight 90g
Operating Condition Industrial Temperature Range -30℃ to +85℃

Ad Hoc Positioning Cluster Control System—APCCS

Ad Hoc Positioning
Cluster Control System

Ad Hoc Positioning Cluster Control System—APCCS supports cluster control of a Swarm Robotics System with the real time high accuracy 3D ranging technique. APCCS is the ideal solution to the challenge of downsizing size and cost of the Swarm Robotics System. By utilizing Impulse Modulation technique, TDOA, GFSK ,QAM, and GNSS, each APCCS can get real-time & long-range 3D Positioning of other autonomous robots - UGV, USV, and UAV. With implementation of APCCS technology, the UGV/USV/UAV would automatically position themselves for ideal connectivity and cooperate with other UAVs (or UGV, USV) for achieving the best connection quality and keeping each other wi thin most effective range.

• Defense
• Disaster rescue
• Reconnaissance
• Airborne surveillance / Convoy protection
• Swarms of autonomous robots
• Cooperative swarms of unmanned vehicles
• Drone Light Show
• Advertising


Swarm Robotics feat. APCCS

Increases survivability

The multi-robot network has a high reliability and can be reconstructed anytime and anywhere. Even if some nodes are under attack, rest of nodes can reconstruct the network and automatically choose the optimal route to accomplish the missions. The APCCS’ features, distributed structure, and node-redundancy improve the multi-robot system’s survivability.

and adaptive

The cluster control of swarm robotics relays by mesh networks. All nodes of swarm robotics are capable of self-reorganization. The system is resilient to node failure and able to cope with various harsh circumstances

APCCS Specifications

APCCS ComponentItem  Description
CPDRange of Comms < 2,000 m (line of sight)
 Range of Ad Hoc Positioning • < 250 m (line of sight)
• Accuracy 10-20cm
 MEMS Inertial Sesonrs • Accelerometer
• Altimeter
• Gyroscope
• Magnetometer
 Navigation Satellite System • GPS
• Beidou
 Positioning TRX comms mode Network @110kbps
 Real-time Analysis• Distance to nearby CPD
• Altitude
• Speed
• Yaw
• Pitch
• Roll
• Flight Stability
RHost Configuration • Communication Module-USB dongle
• Cluster Monitoring Console Software
 Comms Method Point to point in Network (@110kbps)
 Navigation Satellite System • GPS
• Beidou
 Real-time Analysis• Mesh Network comms control
• CPD's positioning calculation
• Sub-group algorithm adaptation
• Cluster motion analysis
 Storage-Data Recording• CPD Flight Route Trace
• CPD Flight Attitude Record