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Configure your own Indoor Navigation System and buy via PayPal:

Starter Set - HW v4.9 - plastic housing 
399 USD

Your choice:
Beacon - HW v4.9 - plastic housing 
69 USD

Your choice:
Modem - HW v4.9 - plastic housing 
69 USD

Your choice:
Starter Set - HW v4.5 - 433MHz (EU) - bare boards 
349 USD

Beacon - HW v4.5 - 433MHz (EU) - bare board 
59 USD

Modem - HW v4.5 - 433MHz (EU) - bare board 
59 USD

  Shipping & handling fee (should be added to any parcel <399 USD) 
50 USD

  Customized SW development fee 
35 USD/h

 
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Bank transfer (5% discount offered), credit cards payments and other payment methods are accepted too. Send us email to info@marvelmind.com.


Shipping & delivery

  • Shipping is done via UPS or DHL or EMS depending on the country of destination
  • Typical delivery time to the US/Europe/S.Korea/Canada is 2-7 days
  • The same or next day shipping



Download


1) It is strongly recommended to use only the latest available SW. If not the latest, the SW compatibility between modem, beacon, and Dashboard SW is not guaranteed.

To update the SW on your devices:

  • Please, always use SW from the same pack: Dashboard SW + modem SW + beacon SW. Don't mix SW from different SW packages
  • Download the SW (see the links below: "Latest stable SW to download") on your hard drive
  • Connect beacon or modem via USB to your computer. Make sure that only one device (either modem or beacon) is connected via USB, while programming!
  • Run the Dashboard => Firmware => Choose the file => Program
  • After programming, which takes a few seconds, press the HW reset button on modem/beacon
  • To be on safe side, please, push the Default button in the Dashboard (bottom-right corner) while the device is still USB connected
  • Write down the beacon's number, because it will be used for waking up the beacon. Or you can change the beacon's address for your convenience, like shown here
  • Double-check in the Dashboard that (1) the modem/beacons contains now the expected version of the SW and (2) radio profiles of beacons and modems are the same
  • It is possible to update beacons' SW over radio interface from the Dashboard. It works pretty much the same way as via USB, but slower and depends on your radio profile settings

2) Some new SW versions bring very substantial changes to the internal protocols and become incompatible with previous SW version. Thus, always keep the same SW versions on all beacons. Also use only compatible versions of the modem and the Dashboard SW, since they come in a package (beacon SW + modem SW + Dashboard SW) and all shall support the same protocols.

Follow the instructions for DFU SW programming: http://www.marvelmind.com/forum/viewtopic.php?f=2&t=294, if DFU programming is needed. In normal mode, you would upload HEX files - not DFU files - to the boards and takes a few seconds per board (via USB) or 0.5-2 min per board via radio

3) Double-check that the beacon's address is the same after SW updating and radio settings of modem and beacons match (radio profile, first of all). Major changes in SW versions may lead to the device's address to be overwritten. If happened, use the Dashboard to assign the required address to the beacon again.

STM driver

stm32_vcp.zip - required to connect beacons/modems to the Dashboard via USB. It needs to be installed only once on your Windows PC.



Latest stable SW to download


Updated on 27.Mar.2017

What is new:

  • Please, make sure that you are using right SW version for your HW - v4.5 vs. v4.9
  • Full support of HW v4.9 - both 433MHz and 915MHz boards
  • Major change in ultrasonic signal triggering mode and AGC - completely new technique is employed now. It shall bring better results in noisy environment as well as when the ultrasonic signal is either too strong or too weak
  • Improved scanning of radio frequencies for better searching of beacons
  • Increased precision of geo-referencing from ~11cm to ~1.1cm
  • Added a new mode of raw data streaming from the modem's UART - real-time raw distances and RSSI data
  • Usual bug-fixing and error corrections





Updated on 16.Feb.2017

What is new:

  • It is possible now to build a fully functional map/submap for 3D navigation using only 3 stationary beacons. Before, one would need at least 4 stationary beacons per map/submap for 3D navigation or 2 stationary beacons for 2D navigation
  • It is possible now to enter values in the table of distance between stationary beacons manually. Before it was fully automatic only
  • It is possible now to remove restriction on the minimal distance between stationary beacons or stationary beacons and mobile beacons. Before it was 0.35m at minimum. Now, it can be set to 0mm. As before, the distance between beacons is not limited anyhow. So, mobile beacons can as close to each other as one wishes
  • Enriched features of embedded oscilloscope designed for making possible a deeper analysis of implications of higher location update rate settings on the system performance
  • C and Python and UDP sample codes support now mm-output format, i.e. fully compatible with the main SW pack. To switch back to cm-resolution format
  • Usual bug-fixing and error corrections


Updated on 12.Jan.2017

What is new:

  • Fixed bug that affected on proper writing of settings into the beacon in some circumstances
  • Faster beacon wake up time
  • Ultrasonic gain self-calibration introduced in beacons: Dashboard > View
  • Optimized displaying of beacon's parameters, while beacon wakes up
  • Notice that C and Python and UDP sample codes are written for cm-output - not mm-output, i.e. not directly compatible. You can turn on compatibility mode to switch back to cm-resolution format


Updated on 20.Dec.2016

What is new:

  • Fixed bug with SPI of mobile beacon
  • Significantly improved resolution of embedded oscilloscope
  • Now the Dashboard has an install file
  • Distances and coordinates are given now in millimeters
  • Notice that C and Python and UDP sample codes are written for cm-output - not mm-output, i.e. not directly compatible. You can turn on compatibility mode to switch back to cm-resolution format



Updated on 11.Dec.2016

What is new:

  • Distances and coordinates are given now in millimeters
  • Key protocols are updated. Please, see them inside the SW package archive
  • Notice that C and Python and UDP sample codes are written for cm-output - not mm-output, i.e. not directly compatible. You can turn on compatibility mode to switch back to cm-resolution format



Updated on 08.Dec.2016

What is new:

  • Some beacon addresses bug fix
  • Modem streaming bug fix



Updated on 26.Nov.2016

What is new:

  • Interface with modem is done now in exactly the same format as with the beacon (UART/virtual UART, SPI)
  • NMEA support fixed: mm vs. cm output
  • Other various bug fixes



Updated on 10.Nov.2016

What is new:

  • Tested support of at least 30 beacons per modem (29 stationary beacons + 1 mobile beacon or 26 mobile beacons + 4 stationary beacons or anything in the middle)
  • Various bug fixes, particularly, in submaps



Updated on 29.Oct.2016

What is new:

  • UDP location streaming from modem is supported now. Previously, location data had to be requested each time - point by point
  • Bug fix in multimaps


Updated on 25.Oct.2016

What is new:





Updated on 13.Oct.2016

Important! The SW introduced rather major changes, so some settings are affected too. After programming do the following:

  • While a beacon/modem is USB connected, press "Default" button (botton-right corner) to upload default settings to the beacon
  • Check radio profile settings on the beacon and on the modem. Choose the same. Otherwise, the modem won't see beacons over the radio interface

What is new:

  • Some bug fixes and improvements



Updated on 12.Sep.2016

Important! The SW introduced rather major changes, so some settings are affected too. After programming do the following:

  • While a beacon/modem is USB connected, press "Default" button (botton-right corner) to upload default settings to the beacon
  • Check radio profile settings on the beacon and on the modem. Choose the same. Otherwise, the modem won't see beacons over the radio interface

What is new:

  • A bug in oscilloscope timing was fixed
  • Modifified protocol. Now timestamp is milliseconds instead of alpha-cycles => our Python and C examples are not yet corrected accordingly
  • Addresses in devices will be now preserved even with major SW changes
  • It is now possible to disable additional location filtering in hedgehog by turning it off in the Dashboard. It is especially useful for small update rates of 0.5-2Hz
  • Improved timing with sending location data at update rates of 16Hz and below
  • Other minor bug fixes and improvements


Updated on 01.Sep.2016

What is new:

  • Major new feature: NMEA support
  • Advanced energy saving features
    • Tested running time by beacon with 16Hz update rate and fully-charged embedded 1000mAh battery is up to 72h
    • Expected/calculated running time by beacon with 1Hz update is nearly 16 times longer => 48 days
    • External 10,000mAh power bank & 1Hz update rate on beacon shall give >1y running time from the same battery
  • Accellerated embedded oscilloscope
  • Optimized map creation for complex multi-beacon multi-submap maps with scanning ultrasonic sensor pairs feature
  • Other bug fixes and improvements


Updated on 23.July.2016

Important! The SW introduced rather major changes, so some settings are affected too. After programming do the following:

  • Connect each beacon via USB cable and assign addresses from the Dashboard again (2, 3, 4, etc.), since the SW resets addresses to all beacons to 1
  • While a beacon is USB connected, press "Default" button (botton-right corner) to upload default settings to the beacon
  • Check radio profile settings on the beacon and on the modem. Choose the same. Otherwise, the modem won't see beacons over the radio interface

What is new:

  • Major new feature: Submaps
    • You can create several independent submaps, for example, for separate rooms with 2-6 beacons in each submap or even a few submaps in one big hall and merge them into a single solid map
  • Major new feature: Dashboard => Substrate
    • You can upload your real floor layout in .png or .tiff or .jpg or .bmp format on the map with beacons and put beacons in the right position on the layout
  • Other multiple bug fixes and improvements
  • If updating from SW v4.62 and fresher, just follow basic SW routing update: Run the Dashboard => Advanced view => Firmware => Choose the file => Program
  • If your beacon/modem SW older, than v4.62 => use DFU programming first: http://www.marvelmind.com/forum/viewtopic.php?f=2&t=294 and then: Run the Dashboard => Advanced view => Firmware => Choose the file (SW HEX v4.78)=> Program


Updated on 17.May.2016

What is new:

  • Bug fix: when powered by external power supply, the beacons didn't wake up
  • Bug fix: data on heights of beacons were lost at some point of time
  • Other smaller bug fixes and improvements
  • If updating from SW v4.62 and fresher, just follow basic SW routing update: Run the Dashboard => Advanced view => Firmware => Choose the file => Program
  • If your beacon/modem SW older, than v4.62 => use DFU programming first: http://www.marvelmind.com/forum/viewtopic.php?f=2&t=294 and then: Run the Dashboard => Advanced view => Firmware => Choose the file (SW HEX v4.78)=> Program


Updated on 10.Mar.2016

What is new:

The key new features:

  • Support for Indoor "GPS" mini - system with two stationary beacons
  • Support of Z-coordinate in UDP protocol with the Dashboard
  • Various pther improvements and bug fixings


Updated on 02.Feb.2016

What is new:

Several major improvements:
  • Support for external flash memory for additional capacity in modem
  • Support for the 5th ultrasonic sensor providing even wider coverage in ultrasonic
  • Multiple other new features


Updated on 17.Nov.2015

What is new:

  • Various bug fixing
  • Further usability improvements


Updated on 02.Oct.2015

What is new:

  • Advanced power saving modes
  • Various bug fixing
  • General usability improvements

Important! Some earlier HW versions do not support all power saving modes. Use "Analog power in sleep" enabled first. It will increase power consumption by 5-8mA in active mode. If you happen to have a newer HW version, disable analog power in sleep. If system continues working normally - use it. It saves battery.

Default mode - "disabled", i.e. if your HW does not support it, the system won't work stable.

Updated on 20.Aug.2015

Important! Please, use addresses for beacons in the range of 2..63. There were reports that addresses 64..99 don't always work well with SW v3.73. This bug has been fixed in the later versions.




Interfaces


Mobile beacon ("hedge") interfacing protocol to robots


  1. Via virtual UART via USB: Supported interfaces


    This is the easiest way to connect since no soldering is required and protocol is the same for different operating systems.


  2. Via SPI:

    SPI & UART interface pins on beacon board.


  3. Python library for beacon:

    • Here is the Python code for Linux-based devices integration via virtual UART via USB
    • Library is easy to use. Also, here is detailed description and example
    • Code is fairly universal; Tested on:
      • Ubuntu 16.04
      • Raspbian Jessie
      • Mac (OS X 10.10)
      • Python v2.7
    • CRC calculation is done in "pythonic way", i.e. library crcmod is used
    • There are handlers of different exceptions, for example, non-standard states of COM/USB

    The Python library provides quick and easy ability for integration of ultrasound navigation system with various linux-based devices. Among them are Raspberry Pi and other single-board PCs. This code is free to use in your applications (please include a reference link to this web page).


  4. C library for beacon:

    • Here is the C code + guiding document
    • Supported operating systems:
      • Microsoft Windows
      • GNU/Linux (including Raspberry Pi)
      • Mac OS X
    • Additionally, link to Bitbacket repository


  5. Connection of Marvelmind hedgehog to Arduino via UART and SPI:


  6. ROS support on Raspberry 2 and Raspberry 3:

    Marvelmind ROS package - bitbucket link.

    Marvelmind ROS package v1.0.6 compatibility and main changes:

    • Supports both millimeters and cantimeters (obsolete) formats of data
    • Supports hedgehog address in data stream. Can receive positions of multiple hedgehogs from modem
    • Supports receiving positions of stationary beacons
    • Supported ROS versions:
      • Kinetic for Ubuntu 16.04
      • Indigo for Ubuntu 14.04
      • Hydro for Ubuntu 12.04

    Please, check the instructions on ROS integration.

    ROS repository status.


  7. Pixhawk support and NMEA interface description:

    Please, check the instructions on Pixhawk integration and description of interfacing via NMEA0183 protocol.


  8. Sending path to your robot/copter:

    • Here is an explanation how to send path data via mobile beacon to your robot/copter sample code.
    • Protocol description => 2.3.1. Request of writing the movement path
    • Relevant forum discussion




Modem and dashboard interfaces


It is possibly to get location data not only from the mobile beacon, but directly from the modem or the Dashboard:

  1. Protocol of data exchange with modem via USB interface: link

  2. The Dashboard software log description: forum link or direct link to the image. First column appeared later, and it is discussed in this topic. It is an additional absolute column - a timestamp - time in milliseconds passed from january,1 of 1970 (UNIX time) - Dashboard SW permanently writes coordinates into log file 'hedgehogs.log' that is stored into the Dashboard folder

  3. Protocol of data exchange with Dashboard via UDP: link

  4. UDP SW example:

    • Here is the C-written UDP example
    • Supported operating systems:
      • Microsoft Windows
      • GNU/Linux
    • Supported streaming as well as master-slave mode

  5. Marvelmind modem C library and sample code:



Help


The best place to start, if you have questions, is to check FAQ and ask questions there, if you haven't found the answer. Usually, we reply the same day or faster.

Check our YouTube channel for video help.

We do currently provide extensive support to our customers via email too. Don't hesitate to ask questions. Just drop us an email on: info@marvelmind.com

Operating manual

  • Before starting working with the system, please, check the operating manual. It will guide you through all aspects of working with the system, setting it up and tuning for the best performance.


Starting in

  • Check that power switch is in the right position: switch 1 must be OFF and switch 2 must be ON. When the board is charged and switch is on, the LED on the board is blinking every a few seconds
  • See demo video for more details
  • Make sure that the map of beacons is frozen in the Dashboard before starting using the mobile beacon
  • Also make sure that the mobile beacon is in "hedgehog" mode - mobile beacon mode - not in the stationary beacon mode
  • Check that correct SW versions are installed on the beacons, routers, hedgehog, dashboards. It is recommended to download the latest version from Download SW
  • One can check the SW version of any device by connecting it to the dashboard via USB. If already connected via radio interface, the SW version is also visible, if the device is awake

Charging

  • Charging is done automatically when device is connected to USB. It takes 1-2h to fully charge the battery

Other help

  • Notice a tiny side-looking reset button on the boards. Use it, if you are stuck
  • Beacons go asleep automatically, if not visible via radio interface to modem/router for more than 1 min. They can be woken up


Contacts



Marvelmind Inc.


1111 W El Camino Real #109-365
Sunnyvale CA 94087
USA

+1 (650) 843-9243

info@marvelmind.com


Copyright 2005-2016 Marvelmind
All rights reserved