Precise (+-2cm) indoor 'GPS' for autonomous robots - '8-loop' track demo

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Precise (+-2cm) tracking indoor of a mobile beacon in hands:
- Mobile beacon's position tracked in real time with up to 16Hz update rate
- Stationary beacons are installed on the walls
- The mobile beacon's location data can be obtained from the mobile beacon or from the modem attached to the PC via USB (virtual UART)/UART/SPI/I2C
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How did you did it? Can you provide me any guidance?

takeshikovach