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“In terms of results, the Marvelmind system, which uses an ultrasound method, was the best solution.”

“The test results show that the autonomous navigation system using indoor GPS on the turtlebot3 burger robot has an accuracy of ± 1 cm.”

“the mean deviation of x, y and z axis were, respectively, 0.14cm, 0.10cm and 0.06cm”

“Therefore, it appears that the advertised accuracy of 2 cm is consistent with the average observed accuracy.”

“Indeed, commercial solutions like Marvelmind’s indoor “GPS” use ultrasound beacons to attain positioning accuracy ten times better than UWB radio in ideal conditions.”

“That is why we used the MarvelMind navigation system in the second indoor test. Its error is at least 10 times smaller than the one provided by the RadioLink SE100 GNSS receiver.”

“Marvelmind Robotics has been used to obtain the ground-truth (real positions) of the receiver and the transmitting beacons”

“The author substantiated the choice of the most suitable and affordable Marvelmind positioning system and experimentally confirmed the positioning accuracy declared by the manufacturer.”

“Stationary beacons are used to establish a perimeter, and mobile beacons within this perimeter can report their location within +/- 2 centimeters.”