Description

Starter Set HW v4.9 is a precise indoor positioning and navigation solution for various applications including autonomous robots, autonomous drones, autonomous vehicles. It also works very well for precise localization and distance measurement in industrial applications, for example: tracking of relative position of vehicles and assets; increasing safety by preventing of violation of geofencing zones; improving productivity by creating heatmaps of movements of vehicles inside a plant or a warehouse.

Content:

This is a NIA only system. Use NIA SW from the SW pack: https://marvelmind.com/pics/marvelmind_SW.zip.

For IA, check IA starter sets: https://marvelmind.com/products/.

There are two HW variants of the system:

  1. 433 MHz – license-free ISM band for the EU and other countries in the Region 1 (https://en.wikipedia.org/wiki/ITU_Region)
  2. 915/868 MHz – license-free ISM band (915 MHz) for the US and countries in Region 2 (https://en.wikipedia.org/wiki/ITU_Region) and license-free SRD (868 MHz) band for the EU and other countries: (https://en.wikipedia.org/wiki/Short-range_device#SRD860)

We always recommend to check your country’s local regulations.

Marvelmind Indoor Navigation System is an off-the-shelf indoor navigation system designed to provide precise (±2cm) location data to autonomous robots, vehicles (AGV), and copters. It is also used to track other objects that the mobile beacon installed upon, for example, virtual reality (VR) systems, helmets for construction workers or miners, etc.

The navigation system is based on stationary ultrasonic beacons that are united by radio interface in a license-free band (433 MHz or 915/868 MHz). The location where a mobile beacon installed 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.

Key requirements for the 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
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

  • 0.05–25Hz
  • 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

Starter Set HW v4.9 is a precise indoor positioning and navigation solution for various applications including autonomous robots, autonomous drones, autonomous vehicles. It also works very well for precise localization and distance measurement in industrial applications, for example: tracking of relative position of vehicles and assets; increasing safety by preventing of violation of geofencing zones; improving productivity by creating heatmaps of movements of vehicles inside a plant or a warehouse.

Content:

This is a NIA only system. Use NIA SW from the SW pack: https://marvelmind.com/pics/marvelmind_SW.zip.

For IA, check IA starter sets: https://marvelmind.com/products/.

There are two HW variants of the system:

  1. 433 MHz – license-free ISM band for the EU and other countries in the Region 1 (https://en.wikipedia.org/wiki/ITU_Region)
  2. 915/868 MHz – license-free ISM band (915 MHz) for the US and countries in Region 2 (https://en.wikipedia.org/wiki/ITU_Region) and license-free SRD (868 MHz) band for the EU and other countries: (https://en.wikipedia.org/wiki/Short-range_device#SRD860)

We always recommend to check your country’s local regulations.

Marvelmind Indoor Navigation System is an off-the-shelf indoor navigation system designed to provide precise (±2cm) location data to autonomous robots, vehicles (AGV), and copters. It is also used to track other objects that the mobile beacon installed upon, for example, virtual reality (VR) systems, helmets for construction workers or miners, etc.

The navigation system is based on stationary ultrasonic beacons that are united by radio interface in a license-free band (433 MHz or 915/868 MHz). The location where a mobile beacon installed 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.

Key requirements for the 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

Additional information

Frequency

433 MHz (EU), 915/868MHz (US/EU)

Questions and Answers


Walter Pyle
1 year 4 months ago

How to find the manual and plugs/connections?

admin
1 year 3 months ago

– Operating Manual: https://marvelmind.com/pics/marvelmind_navigation_system_manual.pdf
– Placement Manual: https://marvelmind.com/download/ => https://marvelmind.com/pics/Marvelmind_Robotics_ENG_placement_manual.pdf

The only connector required is a USB connector. It is coming along with the modem.

Karthik
1 year 1 month ago

Stationery beacons on the floating structure

admin
1 year 1 month ago

Please, elaborate. Is it a question?

Yes, we have had cases, when stationary beacons are actually moving. So, normally, stationary beacons are installed on the ceiling or walls. But when you have some big – a ship or a huge track or an excavator – then you can install the stationary beacons on that huge thing and the map will be moving along.

If you have something floating, we suggest outdoor protected devices:
https://marvelmind.com/product/super-beacon-outdoor/
https://marvelmind.com/product/industrial-super-beacon-plastic/
https://marvelmind.com/product/beacon-industrial-super-beacon-metal-25/

Please, see the presentation: https://marvelmind.com/pics/marvelmind_presentation.pdf => slide “Huge AGV, transport and people”

Théodore
1 year 1 month ago

Is this compatible with Raspberry pi or Pixhawk flight controler ? Thanks

admin
1 year 1 month ago

– Yes, you can easily connect it to PixHawk: https://marvelmind.com/drones/.
– Yes, you can easily connect to Pi as well: https://marvelmind.com/download/ => https://marvelmind.com/download/#ros

With Super-Beacons you can get PX4+PixHawk with Location+Direction:
See a video help: https://youtu.be/52e6eTZapJ8.

Sriram MK
11 months 14 days ago

Do I need to buy the “MMSW0001: 100Hz NMEA0183” license for pixhwak to work with autopilot mode?

admin
11 months 14 days ago

Not necessarily. The license emulate 100Hz GPS data. But it works with regular 8-10Hz as well.

Marc-Olivier Gagné
9 months 4 days ago

Is it possible for indoor positionning in a smallroom to use only one mobile beacon and modem? (not using the 4 other beacons). thanks

admin
9 months 3 days ago

Our Indoor “GPS” works as a real GPS or any other trilateration system. For 3D tracking, you need distances to 3 or more stationary beacons withing 30 meters with direct line of sight/hearing. For 2D – 2 or more. For 1D – 1 or more. Thus, if only 1D tracking is enough for you, yes, 1 beacon per room would be sufficient.

sim
8 months 23 days ago

je n’arriver pas a détecter les balises quand je les connecter a mon pc

admin
8 months 21 days ago

– Please, follow the Operating Manual closely.
– Follow the step by step guidance.
– There is also a troubleshooting chapter

Usual suspects:
– Drivers are not installed
– USB cable is not suitable or even for power and no data
– DIP switch is in off position the beacons are simply not on

Mi
8 months 12 days ago

Are the tracking beacons waterproof?

Ben M.
7 months 2 days ago

Hello,
Can I use this in conjonction with my GPS on board of my PIxhawk drone running PX4? Use the American GPS system to navigate in flight and seemlessly transition to the local navigation system to land precisely? (i.e on a yable indoors)

admin
7 months 1 day ago

Hello Ben,

Let me explain what is supported right away and what is available in principle:

– We stream out data in NMEA0183 format. Thus, any device supporting native GPS format (NMEA0183) shall be able to see our beacons just as a regular GPS device, i.e. no real integration or format conversion is required

– Additionally, see the integration already done by the ArduPilot community: https://marvelmind.com/drones/ => https://ardupilot.org/copter/docs/common-marvelmind.html

– PX4, as far as we know, supports uBlox format (we may be wrong, because we are not flying ourselves). We do support uBlox format as well, but only for Super-Beacons. See more:
a) https://marvelmind.com/pics/marvelmind_px4_integration.pdf
b) https://marvelmind.com/product/mmsw0003/

– Yes, it should be possible and not so difficult to make the seamless handover Outdoor to Indoor, because all basic ingredients are there. However, I am rather sure that additional coding on PixHawk side for the GPS inputs switchover would be required. May be, a bit more than that, because coming from +-10m to +-2cm – there will be always a jump. The question is how the autopilot would react to the jump

BR,
Maxim