Starting from software version 6.01, each submap can include maximum 4 beacons.
4 beacons are enough to provide navigation in area up to 1000 m2 without obstacles.
If you need navigation in more large area or in area with obstacles (for example, multiple separate rooms),
you should split the area into submaps with 1...4 beacons in each submap.
1 beacon in submap provides 1D navigation (for example, along the corrdidor)
2 beacons in submap provide 2D navigation (height of mobile beacon remains constant)
3 beacons in submap provide 3D navigation
4 beacons in submap provide 3D navigation with data reduntancy - positioning remains stable even if one of the beacons is temporarily not on line of sight from mobile beacon
Please refer to the manual for more details about submaps:https://marvelmind.com/pics/marvelmind_ ... manual.pdf