Description

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 (433MHz or 915MHz). 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

  • 0.05–45Hz
  • 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

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 (433MHz or 915MHz). 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 MHz (US)

Questions and Answers


test
1 year 7 months ago

Does MarvelMind system is compatible with Naza control board?

Does this system measures position in all axes (x,y,z) and show it on a user interface in 3D like 2D in your videos?

Is this system capable of positioning more than one object at the same time?

Marvelmind Robotics
1 year 7 months ago

We stream out data in standard GPS format – NMEA 0183 format. So, if you disconnect a regular GPS received and connect our Indoor “GPS” system, your copter would believe that it is connected to a very precise real GPS.

We do stream out data in 3D format (X, Y, Z), but Dashboard shows it only in 2D currently.

Yes, it does. We have tested up to 30 beacons (stationary + mobile in any combination).

test
1 year 7 months ago

Can you track multiple mobile beacons to get 3 sets of XYZ information to calculate rotation information (roll, pitch, yaw) as well? Assuming the 3 mobile beacons were connected to 1 rigid body.

admin
1 year 6 months ago

Yes, current modem can support up to 30 beacons – mobile and stationary combined.

Regarding (roll, pitch, yaw) – we stream out raw IMU data (3D gyro + 3D accelerometer + 3D magnetometer) from beacons with IMU installed.

Calculating the same based on 3 mobile beacons would be also possible. However, that would for pretty slow movements only:
1) Location measurements are done one by one, so, there will be delay between beacon 1-2-3 measurements, i.e. not simultaneously
2) Overall, update rate per system is nearly the same independent on the number of beacons, but update rate per beacon would be 3 times lower

test
1 year 7 months ago

What kind of accuracy could be achieved for lets say a 30’x30′ area? With beacons at 4 corners.

admin
1 year 6 months ago

+-2cm. Accuracy doesn’t really depend on the distance

test
1 year 7 months ago

Ребят, а приемник анализирует вернувшийся ультразвуковой сигнал и считает время сдвига амплитуды и на основе этого вычисляет расстояние, или все модули имеют одно системное время и на его основе создают некую амплитуду сигнала, которую приемник потом расшифровывает обратно в системное время отправителя и на основе сдвига вычисляет расстояние? Просто во втором случае не нужна обратная связь и уменьшается погрешность. Извините, если вопрос окажется глупым.
Марат С.

admin
1 year 6 months ago

Все маяки и модем работают в одном очень точно синхронизированном времени.
Измеряем time of flight => вычисляем расстояния => вычисляем координаты => стримим их наружу и из модема, и из мобильных маяков

test
1 year 6 months ago

Can this system be used outdoors? For example, placed around a field at a farm. Thanks.

admin
1 year 6 months ago

Yes, the system can work outdoor as well as indoor.
The only important factor is that the current system is not rain/moisture/dust protected. So, if you have conditions similar to those inside an office, then, please, use the system outdoor without hesitation. However, if there is rain or snow or dust, then the system may be easily broken

buyer
1 year 6 months ago

Dear all,

We would like to use your UWB technology with drone in Logistic Warehouses. Currently bought starter-kit. How we would deal with return path of the UWB, as in the inventory is not so easy to have line of sight. Any recommendations? As we see your customers are Amazon, you probably will have some experience with that….

admin
1 year 5 months ago

Hello,

Please, take a note that we are not using UWB. Our system is ultrasonic+radio – not ultrawide band.

In practice, line of sight is required for all systems, including UWB, for example, because real objects (concrete walls, metal walls, etc) completely destroy time of flight measurements for both systems – ultrasonic-based and UWB-based.

There are many solutions to overcome non-line-of-sight requirement:
– Proper network planning – install beacons so that, if some are blocked, the remaining still can serve
– Sensor fusion (ultrasonic+IMU or ultrasonic+odometer, etc.) – many options

BR,
Maxim

buyer
1 year 6 months ago

For autonomous indoor of copter, it would be grate if there is a demo video of connecting MarvelMind system to APM autopilot or Naza control board or other microcontroller. It is very important for us to known the compatibility.
How long does it take to send this product to Japan?

admin
1 year 5 months ago

– We are working on different integrations. We will publish them sooner or later
– To Japan, as to majority of other countries – 3-5 days via DHL/FedEx/UPS – whatever works the best with Japan

buyer
1 year 4 months ago

I have a project that needs to have a forklifts control such as speed, location, fuel, etc.
Can I use those? The area is too big and I supose that we will have around 50 forklifts.
This project is possible?

admin
1 year 4 months ago

Yes, it is possible. Moreover, our system is designed, first of all, for application like yours – to track forklifts, to provide analytics (maximim speed, average speed, run/stop time, exact location track, etc.)

buyer
1 year 4 months ago

What will I need if I have a space of about 100 sqm and I want to track the position of 6 people moving and the direction they are facing?
What refresh rate do I get per person?

admin
1 year 4 months ago

You would need a Starter Set. It can cover up to 1000m2.
For each person, you would need a paired beacon: https://www.youtube.com/watch?v=aBWUALT3WTQ

So, totally:
– 4 stationary beacons
– 2*6 mobile beacons
– 1 modem

Refresh rate would really depend on how update rate in the system. If you get 16Hz per system, than you would get 16/6Hz per person.

buyer
1 year 3 months ago

Hi, I am working on cooperation and communication between 4 robots. I wonder if I can use 4 stationary beacons and one modem for 4 mobile beacons? I need all robots navigate using GPS.

Youngmook
1 year 2 months ago

I will explain my project.

When a worker scans a bar code of a product using a PDA, he wants to store the operator’s position and bar code contents on the server.

1. How can I save the worker’s location on the server rather than on the 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?

youngmook
1 year 2 months ago

I will explain my project.

When a worker scans a bar code of a product using a PDA, I wants to save
the worker’s position and barcode contents on the server.

1. How can I save the worker’s location on the server rather than on the 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?

admin
1 year 2 months ago

Yes, it is possible to implement.

1) There are several ways to implement it:

a) Modem streams out location data via virtual UART, regular UART. Your external system can collect the data and store on the server

b) Location data is already automatically stored in the large CSV file in the Dashboard directory

c) Dashboard can stream out location data via UDP. You can receive it anywhere and store on your server

2) The total amount of beacons very much depends on the shelves, corridors between them and many other parameters. In order to estimate the total needed volume of beacons, please, share your floorplan and some photos to have an idea about ceiling, walls, types of shelves, etc. to marvelmind@gmail.com

Laurent
1 year 2 months ago

You are saying you are delivering NMEA 0183 format like a real GPS, but does it deliver the “real latitude and longitude” or a relative position to the fixe beacons? or said in an other way: Does the fixe beacons know there GPS postion so the mobile beacon will also know its real GPS position?

admin
1 year 2 months ago

Yes, there is Geo-referencing. So, to any point on the map (0,0,0), it is possible to assign real absolute GPS coordinates. And Indoor “GPS” will stream out location data with absolute coordinates – “real latitude and longitude”

Natalie
1 year 2 months ago

how much power output is there in this system?

admin
1 year 2 months ago

Are you referring to radio emission power? – <=10mW (<=10dBm). The system is designed to meet ISM bands rules.
Actually, the 915MHz version is even FCC certified.

Stanjhae
1 year 2 months ago

Is it possible to use this with an Arduino?

admin
1 year 1 month ago

Yes, it is. Here is the link: https://marvelmind.com/download/#arduino

Danila
1 year 2 months ago

What interface does the tracker have? Сan it be connected to a smartphone?

admin
1 year 1 month ago

There are many interfaces available: https://marvelmind.com/download/#mobile_uart

And there are several ways to connect the system to a smartphone:
– Direct OTG USB connection, for example, to an Android phone. Tested with Samsung Galaxy S7
– Streaming out data via UART to external Bluetooth module and then to receive Bluetooth directly in the phone

Hoang Anh Si
1 year 1 month ago

I want to get coordinates(x,y,z) of mobile beacon by UART gate every time new coordinate. i have used version HW 4.9 , 433 Mhz but value i recived through UART i don’t understand.
Please guide me config for mobile beacon and how can i take coordinate (x,y,z) of mobile beacon.
Thanks you!

admin
1 year 1 month ago

Hello,

Please, check the pages:
https://marvelmind.com/download/ => https://marvelmind.com/pics/marvelmind_beacon_interfaces.pdf
– Additionally, there are quite a few answers on the forum: https://marvelmind.com/forum/viewforum.php?f=2

Kind regards,
Maxim

prerecorded paths
1 year 1 month ago

Hello, I am building a rover and what I want it to do is run prerecorded routes/paths activated by buttons on a hand held remote. Would this be possible with the indoor navigation system with beacons? Is it possible to set up the beacons and then have my rover with mobile beacon attached drive 5 meters forward then 5 meters to the right with just a push of a button on a programmed remote?

admin
1 year 1 month ago

Hello,

Our system is designed for the very similar applications.
Frankly speaking, you don’t even need a remote control for that. You set the path and command the robot to drive. The rest – fully autonomous:
https://www.youtube.com/watch?v=TBTw1njQ7QY
https://www.youtube.com/watch?v=rjcnDvrS7yk
https://www.youtube.com/watch?v=sqUcEjRizbc

Indoor “GPS” provides you with:
– Precise location
– Possibility to send the path to your robot from the Dashboard via the modem to the mobile beacon via our radio. And your robot would get it via UART/virtual UART interface:
Sending path to your robot/copter:
https://marvelmind.com/download/
Here is an explanation how to send path data via mobile beacon to your robot/copter sample code.
Protocol description => 2.3.1. Request of writing the movement path
Relevant forum discussion

BR,
Maxim

Владимир
1 year 16 days ago

День день добрый, очень понравилась ваша система навигации, хотели бы устанавивать на наши дроны. А как с вами можно связаться в РФ? На сайте контакты онли usa. Хотелось бы пообщаться по поводу покупки комплектов и получить ответы на некоторые технические вопросы…

admin
10 months 19 days ago
Xi Ting
1 year 12 days ago

Hello
I want to use your product for positioning and get the 3D coordinates of the moving target. However, I think the use of system settings to the module is a bit difficult. Can you provide a tutorial from installation to setup?
Thank you

admin
1 year 17 hours ago
Quanter
11 months 23 days ago

How to use this things? same like GPS?

admin
11 months 22 days ago

In many cases – yes. We stream out data in exactly the same format, as GPS – NMEA1083. So, from this point of view, the external system will see the mobile beacon as a regular GPS receiver.
From the underlying technology, it is a completely different system, than GPS. Our Indoor “GPS” relies on stationary beacons. Please, see more:
Presentation
Operating Manual

test1
11 months 17 days ago

if I stay in Thailand. How many day for product arrived at Thailand

admin
10 months 19 days ago

3-4 days via DHL/UPS/FedEx.
Additionally, we have a distributor there: https://marvelmind.com/#distributors

Ebi Esfandyari
11 months 14 days ago

Hi, I would like to ask if your device is able to be used in large farmlands (100Hectares) on the rover and still delivered the same accuracy? and if we use the stronger antenna as a beacon could it support larger area? any terrain obstacle generate noises and cause inaccuracy? could it be used in non-flat fields? and could we use it’s output data to program a route in the field?

admin
10 months 19 days ago

For large open territory, RTK GPS may be economically viable with comparable precision.
Our key is working in the GNSS denied areas (indoor, underground, etc.) and when high precision is required.

JP
10 months 20 days ago

Can I use paired beacons with PixHawk2.1 (ArduPilot) to substitute not only the GPS but also the compass?

admin
10 months 19 days ago

It could be possible. But it is not out of the box – additional tweaking on ArduPilot side may be required.

We have Paired Beacons SW feature, which is gives precise direction along with location: https://www.youtube.com/watch?v=aBWUALT3WTQ

Alex
6 months 26 days ago

Is there a way to increase the differential precision fro +- 2cm by changing the configuration (e.g., adding more beacons)

Yadav
6 months 17 days ago

I got into some problems.
(1)How can I read live data in Python, from the modem NOT from the hedgehogs?
(2)How can I parse the data from the modem?
I try running the example code to parse the data, but it doesn’t seem working. I am receiving zero every single time.

admin
6 months 11 days ago

This kind of detailed questions, please, address in the FAQ forum

Rasamimanana Rolland
6 months 12 days ago

is it possible to use this products under trees and in a non flat field

admin
6 months 11 days ago

You can use it any complex environment. But the key for the system to work properly – to provide direct line of hearing/sight between mobile beacon and 2 or more stationary beacons. If that requirement is fulfulled, the system will work under trees as well. We recommend redundancy. For example, if you want 2D tracking, you need only 2 stationary beacons for that. But you shall install 3 or 4. If 1-2 of them are blocked, with high probability, there still be tracking, because of remaining 2 good stationary beacons.

Alexis
4 months 19 days ago

is it working with Intel aero through telemetry port ?

admin
4 months 13 days ago

Most probably, it shall work right away via basic disconnecting of Intel Aero’s GPS and connecting our Indoor “GPS” instead

Javier
3 months 2 days ago

Hi,
Do the stationary beacons require to be in a given position? it is enough to install them in the most suitable position in any previously-unknown indoor location?

Do they need to be oriented somehow?

Thanks!

admin
3 months 2 days ago

The system self-build the map. So, you just attach beacons to walls using 3M velcro we provide and in 7-10 seconds the map of stationary beacons is build. Then, you freeze it and it is ready to work forever, when modem is powered. Next time, you just either install the same beacons at exactly the same places or just keep them there and wake up the system. It will be up and running in 5-10 seconds.

Hoàng Ngọc Linh
3 months 2 days ago

I I want to read indoor GPS data into my software or chip, can this product work?

admin
3 months 1 day ago

Sure! Here are the links:
https://marvelmind.com/download/
– You can get it from the Mobile beacon
– Or from the modem

Matt
1 month 9 days ago

Is there a way to make the beacon more accurate than +- 2cm, something like +-1cm or less would be great for my applications. Are you working on one even more precise ?
Thank you

admin
1 month 6 days ago

Already now, in many cases, the system is sub-cm. Please, see demos:
https://youtu.be/MccIB2pUFaM
There is trade off between update rate/latency and precision:
– Enable Realtime Player with averaging 16 and you will have sub-cm precision
– Use only one emitting transducer, for example, RX4 only, instead of all 5 RX1-RX5, and you will have more dot-like emission
– Use small Mini-TX for dot-like emission
– Use Mini-RX for reception. Their microphone is as small dot as you can have

wang
23 days 6 hours ago

how do your products provide location infornation for ardrone2.0?

admin
20 days 2 hours ago

We stream out location data via UART and virtual UART over USB in the open protocol: https://marvelmind.com/pics/marvelmind_beacon_interfaces.pdf.
Moreover, we also stream out location data in NMEA0183 – regular GPS format. So, for any external device capable to received NMEA0183, we will appear just as a very precise GPS.

Alon
20 days 13 hours ago

Would this work for tracking a dancer, considering she would be moving around a lot and spinning and twisting?
I would like to use this in conjunction with a inertia based mocap suit to get more precise position data.
The only worry I have is magnetization, as the inertia based mocap suit is senstive to magnetization..

admin
20 days 2 hours ago

It would.
But even better is this: https://marvelmind.com/product/starter-set-ia-01/, because mobile beacon in this system is not emitting ultrasound, but receiving.
We are not using magnetometers indoor and don’t advise to use them. Gyro + sensor fusion is a recommended solution