Paired beacons on AGV

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xenos_peng
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Joined: Sun Mar 04, 2018 3:31 pm

Paired beacons on AGV

Postby xenos_peng » Thu Nov 15, 2018 5:17 pm

Hi,
Currently I am going to use Marvelmind beacons to our AGV cars in our Factory, that is, instead of people to transport the heavy goods.
Our factory is full of metal machines, such SMT, High speed placement, metal shelf.. etc.
So I want to use the Paried mobile beacons feature in our AGV car.
my question are:
1. Do I have to use the IMU beacon form Paired mobile beacons?
or I can use the beacons without IMU to form Paired mobile beacons?
2. According to your product manual reference, the space between mobile beacons needs to be more than 20cm. best is 50cm.
what is the correspondent heading reference angle precision at 20cm?
at 30cm?
at 40cm?
at 50cm?
regards,
Thank you!
xenos peng

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Re: Paired beacons on AGV

Postby admin » Mon Nov 19, 2018 1:39 pm

xenos_peng wrote:Hi,
Currently I am going to use Marvelmind beacons to our AGV cars in our Factory, that is, instead of people to transport the heavy goods.
Our factory is full of metal machines, such SMT, High speed placement, metal shelf.. etc.
So I want to use the Paried mobile beacons feature in our AGV car.
my question are:
1. Do I have to use the IMU beacon form Paired mobile beacons?
or I can use the beacons without IMU to form Paired mobile beacons?
2. According to your product manual reference, the space between mobile beacons needs to be more than 20cm. best is 50cm.
what is the correspondent heading reference angle precision at 20cm?
at 30cm?
at 40cm?
at 50cm?
regards,
Thank you!
xenos peng



Hello,

1) The paired beacons will work without IMU. Simply, using IMU is strongly recommended, since the location for paired beacons is measured in TDMA mode: left-right-left-right, etc. It means, that the system predicts the position of the second beacon, when the first one is measured. If you combine gyro data and Paired Beacons data, your direction will be far more stable

2) It comes from trigonometry:
- If you have +-2cm location precision, for example
- The worst case scenario: left - -2cm and right - +2cm; and another variant: left - +2cm and right - -2cm
- So, please, estimate yourself the angle variation for these two extremes

BR,
Maxim11


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