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Technical reference for system integrators and engineers.
Device Protocols
CAN-FD
Modbus RTU
Unified TDMA
L-MESH
A-RTLS
L-DCB
UWB TWR
UWB TDoA
Offline-online RMA
A-GNSS
CAS-PDS Protocol
BLE GATT
BLE Ext Advertising
GATT Data Sync
OTA Upgrade
MQTT
Sensors
Sensor TLV Protocol
IMU
Barometer
Gas Sensors
Hall Sensor
Device Models
Fieldbus Anchor
Vehicle Anchor
Locator Pro v3.0
Locator Lite XT
Wristband Pro
Smart Lamp Locator
Locator Lite
Mobile Apps
CAS-PDS Tablet Application
Equipment Tracking Application
Servers
Safe Mining Portal
Leantegra Core Portal
Server Protocols
MQTT API
REST API
Contents
Device Protocols
CAN-FD
The CAN-FD daisy-chain transport for Leantegra RTLS anchors — 29-bit CAN IDs, message types, byte-level frame formats, keep-alive status bitmask, time sync and remote parameter management.
Modbus RTU
The Modbus RTU bus inside the Smart Lamp Locator — register map, function codes, commands to the cap lamp controller and gas sensor status words.
Unified TDMA
The scheduled-access scheme shared by Leantegra devices — superframe and slot structure, why scheduling replaces random access, and one scheduler across UWB, UWB+BLE and BLE-only deployments.
L-MESH
L-MESH — battery-operated 2.4 GHz TDMA mesh protocol with relay functions for RTLS, GNSS, Sensor Telemetry and Alarms, running on nRF52 devices under the Unified TDMA framework.
A-RTLS
A-RTLS — mesh-assisted real-time location: how L-MESH presence detection and shared scheduling let UWB TWR, UWB TDoA and L-DCB run on battery-powered infrastructure.
L-DCB
L-DCB — Differential Channel Burst positioning: metre-class location over the 2.4 GHz mesh itself, by cancelling device variation differentially and suppressing multipath with a channel burst.
UWB TWR
Two-way ranging over UWB — the poll / response / final exchange, the timestamps it produces, distance computation and slot airtime.
UWB TDoA
Time-difference-of-arrival positioning over UWB — one tag blink heard by synchronised anchors, hyperbolic multilateration and how it scales.
Offline-online RMA
Reverse Matchpoints Algorithm — offline BLE location tracking that continues without network coverage and synchronises when a connection returns.
A-GNSS
A-GNSS — outdoor positioning combining standard GNSS with L-MESH and Unified TDMA: indoor/outdoor arbitration, orbital data sync, record format, live and buffered modes, and MQTT payload keys.
CAS-PDS Protocol
The CAS-PDS collision-avoidance and proximity-detection mode of the Vehicle Anchor — mode selection, UWB exchange, range routing and the 11-byte GATT range notification.
BLE GATT
The four vendor BLE GATT services exposed by Leantegra devices — UWB RTLS, network configuration, device status and RTLS configuration — with the full characteristic map for each.
BLE Ext Advertising
Carrying Sensor TLV telemetry in BLE extended advertising packets — connectionless broadcast to any listener in range.
GATT Data Sync
The buffer-and-sync protocol Leantegra devices use to hand buffered records to a phone or gateway — commands, acknowledged delete and protobuf record chunks.
OTA Upgrade
Over-the-air firmware update for Leantegra anchors — one signed ZIP over BLE upgrades both the nRF52 application and the WiFi module, using nRF Connect for Mobile.
MQTT
The MQTT interface published by Leantegra devices — topic namespaces, per-topic payloads, the device type discriminator and the remote parameter read/write protocol.
Sensors
Sensor TLV Protocol
The transport-agnostic Type-Length-Value record format carrying sensor telemetry, alarms, battery status and GNSS data across Leantegra devices.
IMU
The inertial measurement unit on Leantegra devices — raw and aggregated records, motion classification, event flags and the vibration metrics computed on-device.
Barometer
Differential barometry on Leantegra devices — pressure and altitude records, floor index, vertical velocity, disturbance flags and the separate temperature record.
Gas Sensors
Methane and carbon monoxide measurement on the Smart Lamp Locator — sensor options, value encoding, status words and how alarms reach the server.
Hall Sensor
The magnetic switch on Locator Pro and Locator Lite XT — how a magnet powers a sealed device on and off, the two-stage gesture, debounce and wake behaviour.
Device Models
Fieldbus Anchor
Integration reference for the Fieldbus Anchor — CAN-FD and RS-485 daisy-chain RTLS anchor for factory automation.
Vehicle Anchor
Integration reference for the Vehicle Anchor — vehicle-mounted RTLS device for collision avoidance and proximity detection.
Locator Pro v3.0
Integration reference for Locator Pro — long-range industrial RTLS anchor and gateway for outdoor and indoor installations.
Locator Lite XT
Integration reference for Locator Lite XT — battery-powered reverse RTLS anchor for equipment tracking without network coverage.
Wristband Pro
Integration reference for Wristband Pro — wrist-worn RTLS tag combining indoor UWB positioning, outdoor GNSS and a wearer alarm.
Smart Lamp Locator
Integration reference for the Smart Lamp Locator — embeddable ATEX RTLS-IoT module for cap lamps: gas measurement and alarms, SOS, two-way text messaging, proximity alerting and offline position tracking.
Locator Lite
Integration reference for Locator Lite — compact low-cost RTLS device for pilots and experimentation, usable as anchor or tag.
Mobile Apps
CAS-PDS Tablet Application
The in-cabin Android tablet application for collision avoidance and proximity detection — how it pairs with a Vehicle Anchor, sets vehicle state and raises proximity warnings.
Equipment Tracking Application
The in-cabin Android tablet application that collects buffered position history from Locator Lite XT devices over BLE and forwards it to the server.
Servers
Safe Mining Portal
Web portal for visualizing and managing safety features in underground mines based on RTLS, gas sensors and digital cap lamps — mapping, alarms, personnel and equipment, device management, reporting and integrations.
Leantegra Core Portal
Server software with the typical RTLS and IoT features, customizable for domain-specific requirements, with a modular containerized architecture for on-premise or cloud deployment.
Server Protocols
MQTT API
Consuming Leantegra device data from the server side over MQTT — subscribing, message routing, parameter read and write, plus the complete topic and payload reference.
REST API
The Leantegra server REST API — OAuth 2.0 authentication, the resource tree, and the long-polling RTLS endpoints that stream live position data.
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