Description

Content:

  • 4 Stationary beacons with standard 50mm antennas
  • 1 Mobile beacon with IMU (3D accelerometer + 3D gyroscope + 3D magnetometer) onboard
  • 1 Modem supporting up to 30 beacons

Marvelmind Indoor Navigation System is off-the-shelf indoor navigation system designed to provide precise (±2cm) location data to autonomous robots, vehicles (AGV), and copters. It can also be used to track other objects with a mobile beacon installed on them, for example, forklifts in warehouses or virtual reality (VR) helmets or helmets for construction workers or miners, etc.

The navigation system is based on stationary ultrasonic beacons united by radio interface in a license-free band (433MHz or 915MHz). The location of a mobile beacon is calculated based on the propagation delay of an ultrasonic signal (Time-Of-Flight or TOF) to a set of stationary ultrasonic beacons using trilateration. No manual calibration is required. No need to know exact locations of the beacons – the system builds the map of beacons automatically.

The set contains a mobile beacon with IMU that gives a possibility for ultrasonic + IMU (3D accelerometer + 3D gyro + 3D magnetometer) fusion. That allows much faster update rate – up to 100Hz and above.

Key requirements proper system functionality:

  • For 3D (X, Y, Z) tracking – An unobstructed sight by a mobile beacon of three or more stationary beacons simultaneously
  • For 2D (X, Y) tracking – An unobstructed sight by a mobile beacon of two stationary or more stationary beacons simultaneously
  • Distance to the nearest 2 or 3 beacons – not more than 30 meters (recommended). In ideal conditions – up to 50 meters
  • Mobile beacon with IMU onboard
Technical Details

Distance between beacons

  • Reach up to 50 meters in lab conditions
  • Recommended distance is 30 meters (Transducer4 to Transducer4 looking straight at each other and other transducers are off)

Coverage area

  • Reach up to 1000 m2 with the Starter Set configurations
  • Coverage for larger territories is similar to cellular networks

Location precision

  • Absolute: 1–3% of the distance to the beacons
  • Differential precision: ±2 cm

Location update rate

  • 0.05–45Hz
  • Can be set manually
  • Depends on the distance between the mobile and stationary beacons (shorter distance — higher update rate)
  • Depends on the number of mobile beacons: for example, update rate of 25Hz for 1 mobile beacon will result in update rate of 25Hz/2 for 2 mobile beacons, and 25Hz/3 – for 3 mobile beacons, etc
  • Depends on the radio interface profile (500kbps vs. 38kbps)
  • Slightly depends on the number of stationary beacons—different than for mobile beacons

Power supply

Internal:

  • LiPol battery 1000mAh
  • Battery lifetime depends on usage
  • Stationary beacon with 16Hz update rate => up to 72h (tested)
  • Stationary beacon with 1Hz update rate => ~72h*16 => 1 month
  • Mobile beacon with 8Hz update rate – 12h (tested)

External:

  • microUSB – recommended for permanent use

Weight

Mobile beacon from Starter Set:

  • 59 grams (including battery 1000mAh and housing and antenna 50mm)
  • 27 grams (bare board w/o battery)

Beacon size

  • 55x55x33 mm (with 50mm antenna: 55x55x65mm)

Description

Content:

  • 4 Stationary beacons with standard 50mm antennas
  • 1 Mobile beacon with IMU (3D accelerometer + 3D gyroscope + 3D magnetometer) onboard
  • 1 Modem supporting up to 30 beacons

Marvelmind Indoor Navigation System is off-the-shelf indoor navigation system designed to provide precise (±2cm) location data to autonomous robots, vehicles (AGV), and copters. It can also be used to track other objects with a mobile beacon installed on them, for example, forklifts in warehouses or virtual reality (VR) helmets or helmets for construction workers or miners, etc.

The navigation system is based on stationary ultrasonic beacons united by radio interface in a license-free band (433MHz or 915MHz). The location of a mobile beacon is calculated based on the propagation delay of an ultrasonic signal (Time-Of-Flight or TOF) to a set of stationary ultrasonic beacons using trilateration. No manual calibration is required. No need to know exact locations of the beacons – the system builds the map of beacons automatically.

The set contains a mobile beacon with IMU that gives a possibility for ultrasonic + IMU (3D accelerometer + 3D gyro + 3D magnetometer) fusion. That allows much faster update rate – up to 100Hz and above.

Key requirements proper system functionality:

  • For 3D (X, Y, Z) tracking – An unobstructed sight by a mobile beacon of three or more stationary beacons simultaneously
  • For 2D (X, Y) tracking – An unobstructed sight by a mobile beacon of two stationary or more stationary beacons simultaneously
  • Distance to the nearest 2 or 3 beacons – not more than 30 meters (recommended). In ideal conditions – up to 50 meters
  • Mobile beacon with IMU onboard

Additional information

Frequency

433 MHz (EU), 915 MHz (US)

Questions and Answers


Youngmook
9 months 13 days ago

I will explain my project.
1. When an worker scans and loads a barcode of a product in a warehouse, it wants to save the position of the product on the server while to find out a position of the worker.
How can I store the location of a mobile beacon on a server, not on a PC monitor?
2. The size of the warehouse is 130M * 130M, and there are many steel racks. In this case, how many stationary beacons and mobile beacons should I take?

YU GAO
7 months 16 days ago

How to distinguish the mobile beacon with IMU from other beacons? They have no exterior differences.

admin
7 months 16 days ago

There are couple of ways:
– Lately, beacons are delivered with white stickers on the bottom. If the sticker has word IMU, then the beacon is with IMU
– You can always check electronically as well: disconnect all other Marvelmind devices from your computer and connect the beacon in question via USB to the Dashboard => View => Accelerometer data. The beacon with IMU will have the graph changing, when the beacon is rotated

jafar
7 months 16 days ago

Does this set come with any libraries or sample codes pre-written to get the data from the fusion of the IMU and beacons to get the 100Hz update rate?

admin
6 months 18 days ago

Yes, it does: https://marvelmind.com/download/ =>

Updated on 25.Jan.2018

For HW v4.9 only SW pack: Dashboard SW v5.61 + Beacon SW v5.85 + Modem SW 5.85

What is new:

New major feature for beta testing: IMU + ultrasonic sensor fusion. With update rate based purely on ultrasonic as low as 4Hz, you can get effective update rate of 100Hz from mobile beacon equipped with IMU thanks to the new sensor fusion feature. Expected update rate in future SW releases – 200Hz on the same HW
Tracks below:
4Hz ultrasonic-only track => location update latency ~250ms
4Hz ultrasonic + 100Hz IMU => location update latency ~10ms
100Hz IMU-only track => location update latency ~10ms
Each square is 5x5cm
Notice, that IMU raw data protocol has changed. Also, notice that 100Hz location update is available only from the mobile beacon – not from the modem
Here is a Python code to extract 100Hz fast location update from mobile beacons via UART and virtual UART over USB
Code is in beta testing. So, your feedback is highly appreciated
General improvements and bug fixes

https://marvelmind.com/pics/marvelmind-imu-tracker.zip

Since update rate is very high, you can get IMU fusion data only from the beacon – not from the modem

Nguyen Minh Ha (Mrs)
4 months 6 hours ago

I want to buy Starter Set – HW v4.9 + IMU – plastic housing.

But the sensor, installed on robot with IMU should be waterproof IP 67

Please let me know total price.

We are in Vietnam, HCMC , can you please quote us total price + shipment and let us know the lead time.
Thank you

admin
3 months 27 days ago

IP67 version shall be available in Q3/Q4 this year. It will look different. The price will be available also when the product is commercially available. For estimate, the IP67 versions will be 1.5-2 times more expensive than regular beacons/modems.

Current version is designed for office-like environment (indoor and outdoor). For example, rain may damage it quite easily.

Lead time for all our commercially available equipment – 1 day. Shipping time slightly depends on the country, but, usually, 3-5 days via DHL/UPS/FedEx and similar.

Ivan Dinkov
18 days 22 hours ago

Is it possible to transfer data via CANopen ?

admin
18 days 15 hours ago

It is possible, theoretically:
– There are HW pins available on both modem and beacon that can be used for CAN interfacing
– For modem, it wouldn’t require any sacrificing. For beacon – IMU functionality won’t be available
– The interface will be 3.3V, i.e. if you need real CAN voltages, then external interfacing IC/board would be required
– SW currently doesn’t contain support for CAN. But with the proper demand, that can be added