Localization & Oriantation wrong

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Quasar
Posts: 1
Joined: Sun Feb 06, 2022 7:39 pm

Localization & Oriantation wrong

Post by Quasar »

Hi,

We are currently having issues using the Marvelmind System.

We are using 2 Beacons HW 4.9 (19kHz, 35kHz), 1 Modem and 1 Mini Rx Beacon to locate a robot in 2D. The distance between the two beacons is 8m and both are 1,7m above the ground. The mobile Beacon is a Mini RX with two extern microphones (RX2 & RX3) to determine the orientation. The distance between the two microphones is 23cm.

Now to the problems:

Inside the Marvelmind Dashboard the orientation of the robot is wrong and not moving at all. But we receive the correct orientation via UART.
Furthermore, we couldn’t locate the robot precisely. Especially when we are driving with the robot the localization on the map is jumping around.

Here is a video which shows the jumping: https://www.youtube.com/watch?v=97GPg6R6j3M
The Beacons are attached on the left wall.
I attached a picture of our robot with the microphones.

Anyone can help to solve this problem?

Thanks
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Robot with two microphones (left and right)
Robot with two microphones (left and right)

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Re: Localization & Oriantation wrong

Post by admin »

Quasar wrote:
Sun Feb 06, 2022 7:48 pm
Hi,

We are currently having issues using the Marvelmind System.

We are using 2 Beacons HW 4.9 (19kHz, 35kHz), 1 Modem and 1 Mini Rx Beacon to locate a robot in 2D. The distance between the two beacons is 8m and both are 1,7m above the ground. The mobile Beacon is a Mini RX with two extern microphones (RX2 & RX3) to determine the orientation. The distance between the two microphones is 23cm.

Now to the problems:

Inside the Marvelmind Dashboard the orientation of the robot is wrong and not moving at all. But we receive the correct orientation via UART.
Furthermore, we couldn’t locate the robot precisely. Especially when we are driving with the robot the localization on the map is jumping around.

Here is a video which shows the jumping: https://www.youtube.com/watch?v=97GPg6R6j3M
The Beacons are attached on the left wall.
I attached a picture of our robot with the microphones.

Anyone can help to solve this problem?

Thanks

Hello,

Please, start with this link: https://marvelmind.com/how_to_use_and_i ... ng_system/ - basic recommendation is rather simple: get perfect tracking in a simpler configuration before moving to a more complex setup in order to clear spot where the mistake arises.

In your case, recommendations:
- Switch of the Real-Time Player for now
- Before doing the Paired Beacons, track each of the microphones separately first. One at a time
- After confirming that each separate microphone works well, track two at the same time, but keep them separate - not in the Paired Beacons mode
- After confirming good tracking with stand-alone microphones - pair them

It looks like the issue consists of two issues:
- Not perfect tracking of one of both microphones
- Some strange settings in the Paired Beacons configuration

Let's fix one by one and start with tracking standalone and without the Real-Time Player

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