Both anchors and tags use Decawave DWM1000 modules for the UWB part.
Anchor is designed on STM32F207 MCU. PoE interface uses PM8800 and incorporates all the functions required by the IEEE 802.3af. Anchor has external flash memory on-board. Indication is on WS2812 RGB LEDs.
Tag is designed on STM32L072 MCU. It has LSM6DS3 IMU module onboard.
To bring up RTLS system you need min. 4 anchors, PoE switch and PC. Connection scheme described on the picture below.
Configuration of anchors can be done through ethernet or USB. Screenshot of configuration field is attached below.
Two-way ranging test in small home room. No output filtration.