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For questions about devices that are both transmitters and receivers.
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Multilateration with TOA using lowcost transceivers (like NRF24L01) and uCs
go from N1 to N2 and back is:
$$t = 2(t_b + t_c) = 2\left ( \frac{1}{R} + \frac{1}{c}\times d \right ),$$
where \$t\$ corresponds to bit transfer rate (\$R\$ = 2Mbps for NRF24L01+), or the time the transceiver …