Executive summary

This chapter as a clean, readable HTML page.

The “Executive summary” chapter of the Operating Manual, reproduced as a real HTML page. Anything unclear? Open the original PDF of just this chapter (pages 16-18) (also pinned top-left). Hub: all chapters.

Marvelmind Indoor Navigation System is an off-the-shelf indoor navigation system that provides precise (±2 cm) location data to autonomous robots, vehicles (AGV), forklifts, and drones. It can also track moving objects via mobile beacons attached to them. Other applications include cranes, virtual/augmented reality (VR/AR) systems, helmets for construction workers or miners, etc. See more: Solutions.

The navigation system consists of a network of stationary ultrasonic beacons interconnected via a radio interface in a license-free band (915/868 MHz), one or more mobile beacons installed on objects to be tracked, and a modem or modems providing a gateway to the system from a PC or other computers. See more: Architectures.

Using the trilateration algorithm, a mobile beacon’s location is calculated based on a propagation delay of ultrasonic pulses (Time-Of-Flight or TOF) between stationary and mobile beacons.

Operating Manual, Executive summary: illustration 1 The system can automatically build a map of stationary beacons. In simple cases, no additional manual data input or any manual distance measurements are required. This map formed once can be frozen and stored in the modem’s memory, and the system becomes fully active within 7 to 10 seconds after the modem is powered.

Fig. 1: Example of Starter Set based on Super-Beacons

Minimum configuration requirements to ensure optimal performance of the Marvelmind Indoor Navigation System:

For 3D (X, Y, Z) tracking: an unobstructed line of sight (hearing) between a mobile beacon and 3 or more stationary beacons within 30 meters

For 2D (X, Y) tracking – an unobstructed line of sight (hearing) between a mobile beacon and 2 or more stationary beacons within 30 meters

For 1D tracking: an unobstructed line of sight (hearing) between a mobile beacon and 1 or more stationary beacons within 30 meters in standard configuration, or up to 100-150 meters with a Horn attachment (see Horn section)

Key Capabilities:

Parameter	Technical Specifications
Distance between beacons	Reaches up to 50 meters and up to 100 meters with horn under indoor conditions (Mini-RX or Super-Beacon to Super-Beacon with RX4 only) Recommended distance is 30 meters (Transducer4 on the first beacon is looking straight at the Transducer4 on the second beacon; other transducers are switched off)
Coverage area	Reaches up to 1000m²with the Starter Set configurations Coverage for larger territories is provided using submaps – like cells in cellular networks
Location precision	Absolute: 1-3% of the distance to the beacons Differential precision: ±2 cm
Location update rate	1/20 Hz to 40 Hz (Ultrasonic based only) 100 Hz with ultrasonic + IMU fusion enabled (Only for Beacons HW v4.9-IMU-Discontinued) Can be set manually via Dashboard software Depends on the distance between mobile and stationary beacons (shorter distance-higher update rate). See more Depends on the number of mobile beacons (For Non-Inverse Architecture; for Inverse Architecture, there is no such dependency) Depends on the radio profile (500 kbps, 200 kbps, 38 kbps) Slightly depends on the number of stationary beacons-dependence is not the same as for mobile beacons
Power supply	Internal: 1000mAh LiPo battery (Super-Beacon) Battery lifetime: from 2 days to several months, depending on the mode of operations¹
Power supply	External: micro-USB – recommended for permanent use
Weight	Mobile beacon (Super-Beacon) from the starter set: 59 grams (including 1000mAh battery, Super-Beacon housing, and 50 mm antenna)² 27 grams (Super-Beacon, bare board w/o battery)
Beacon size	Size: 55x55x33 mm (with 50 mm antenna: 55x55x65 mm) (Super-Beacon)³

^1,2,3For other types of beacons, look to the comparison table

Legend

The legend chapter contains small icons and signs highlighting key text points.

Important
For experienced users
Demo or Help video
Useful link