Description

This is a Starter Set supporting Inverse Architecture (IA) with 2D tracking (XY).

In the Inverse Architecture (IA), stationary beacons emit ultrasound and mobile beacons receive it. Thus, it is possible to have multiple mobile beacons without update rate reduction per mobile beacon, unlike in Non-Inverse Architecture (NIA). See more in the Architecture Comparison.

Content:

Use cases:

  1.  One autonomous robot or tracking one forklift or one person or another object. Covered area of up to 1,000 m2
  2. Especially good for tracking people. See demos:

The Inverse Architecture is not well suitable for drones, because mobile beacon is receiving ultrasound in this architecture. If placed on the drone, the drone’s rotor’s noise would limit the ultrasonic range very much. Starter Sets with NIA are designed for that, for example, Starter Set NIA-02

Further expansion:

  • For more mobile objects – add more mobile beacons Mini-RX
  • For more coverage – add more stationary beacons (will be available in future SW releases. Now – one submap of two beacons only)

The Mini-RX beacons – the mobile beacons of this set – differ from regular Beacons HW v4.9 in several ways:

  • The Mini-RX an RX-only beacon, i.e. it can receive, but it cannot transmit ultrasonic signal. The fact that it is an RX-only makes it more sensitive, i.e. you will get a longer range between Beacon HW v4.9 and the Mini-RX than between Beacon HW v4.9 and Beacon HW v4.9
  • The Mini-RX beacons can receive any ultrasonic frequency from the bands: 19kHz, 25kHz, 31kHz, 37kHz, 45kHz, 56kHz. The filter can be simply selected in the Dashboard. At the same time, the working ultrasonic frequency of Beacon HW v4.9 is HW-defined by ultrasonic sensors and can’t be changed
  • The Mini-RX beacons can receive several ultrasonic frequencies at once. That is used in Inverse Architecture. See the comparison
  • The Mini-RX beacons are significantly smaller, than Beacon HW v4.9. For more, check the Beacons Comparison table
  • The Mini-RX beacons can work with regular Beacons HW v4.9 in any combination as a part of a Starter Set or as a part of navigation systems and it is a superior RX-only replacement to HW v4.9. At the same time, since it is RX-only beacon, while the Beacons HW v4.9 is a universal dual-use beacon

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

The navigation system is based on stationary ultrasonic beacons that are united by radio interface in a license-free band (915MHz). The location of the 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.

Key requirements for the system to function properly:

  • For 3D (X, Y, Z) tracking – An unobstructed line of hearing/sight by a mobile beacon to three or more stationary beacons simultaneously
  • For 2D (X, Y) tracking – An unobstructed line of hearing/sight by a mobile beacon to two 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

Content

Distance between beacons

  • Reaches up to 50 meters in lab conditions
  • Recommended distance in real-life environment – up to 30 meters (Transducer4 of Beacon HW v4.9 looking straight at Beacon Mini-RX)

Coverage area

  • Reaches up to 1,000 m2
  • Coverage for larger territories can be increased further with more stationary beacons (in future SW releases)

Location precision

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

Location update rate

  • 0.05–8Hz
  • Can be set manually or in automatic mode
  • Depends on the distance between the mobile and stationary beacons (shorter distance — higher update rate)
  • Does not directly depend on the number of mobile beacons, unlike in Non-Inverse Architecture. All beacons have location update at the same time
  • Depends on the radio interface profile (500kbps vs. 38kbps)

Description

This is a Starter Set supporting Inverse Architecture (IA) with 2D tracking (XY).

In the Inverse Architecture (IA), stationary beacons emit ultrasound and mobile beacons receive it. Thus, it is possible to have multiple mobile beacons without update rate reduction per mobile beacon, unlike in Non-Inverse Architecture (NIA). See more in the Architecture Comparison.

Content:

Use cases:

  1.  One autonomous robot or tracking one forklift or one person or another object. Covered area of up to 1,000 m2
  2. Especially good for tracking people. See demos:

The Inverse Architecture is not well suitable for drones, because mobile beacon is receiving ultrasound in this architecture. If placed on the drone, the drone’s rotor’s noise would limit the ultrasonic range very much. Starter Sets with NIA are designed for that, for example, Starter Set NIA-02

Further expansion:

  • For more mobile objects – add more mobile beacons Mini-RX
  • For more coverage – add more stationary beacons (will be available in future SW releases. Now – one submap of two beacons only)

The Mini-RX beacons – the mobile beacons of this set – differ from regular Beacons HW v4.9 in several ways:

  • The Mini-RX an RX-only beacon, i.e. it can receive, but it cannot transmit ultrasonic signal. The fact that it is an RX-only makes it more sensitive, i.e. you will get a longer range between Beacon HW v4.9 and the Mini-RX than between Beacon HW v4.9 and Beacon HW v4.9
  • The Mini-RX beacons can receive any ultrasonic frequency from the bands: 19kHz, 25kHz, 31kHz, 37kHz, 45kHz, 56kHz. The filter can be simply selected in the Dashboard. At the same time, the working ultrasonic frequency of Beacon HW v4.9 is HW-defined by ultrasonic sensors and can’t be changed
  • The Mini-RX beacons can receive several ultrasonic frequencies at once. That is used in Inverse Architecture. See the comparison
  • The Mini-RX beacons are significantly smaller, than Beacon HW v4.9. For more, check the Beacons Comparison table
  • The Mini-RX beacons can work with regular Beacons HW v4.9 in any combination as a part of a Starter Set or as a part of navigation systems and it is a superior RX-only replacement to HW v4.9. At the same time, since it is RX-only beacon, while the Beacons HW v4.9 is a universal dual-use beacon

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

The navigation system is based on stationary ultrasonic beacons that are united by radio interface in a license-free band (915MHz). The location of the 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.

Key requirements for the system to function properly:

  • For 3D (X, Y, Z) tracking – An unobstructed line of hearing/sight by a mobile beacon to three or more stationary beacons simultaneously
  • For 2D (X, Y) tracking – An unobstructed line of hearing/sight by a mobile beacon to two 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

Weight 0.025 kg
Dimensions 4.7 × 4.2 × 1.5 cm
Frequency

915MHz, 915MHz (US)

Questions and Answers


TOMMY
2 months 6 days ago

Hi,
We are working on a project that consist in driving a robot by indoor geolocalisation in a workshop. Our robot will operate with a Raspberry Pi card.
The robot moves according to 2 operation modes :
Mode 1 : Following an operator
Mode 2 : Automatic driving (return at the base, …)
So the robot needs to be localized in the workshop.
For the Following operator mode we need to localize the operator in the workshop. We want the operator to be able, with only one device, to localize himself and to switch the operation modes of the robot.
Do you have a product which could satisfy this task ?
Thanks

admin
2 months 6 days ago

Hello,

Mode 1: supported
Mode 2: supported

The easiest way:
– Mobile beacon on the operator: https://marvelmind.com/product/mini-rx/
– Two mobile beacons on the robot for Location+Direction (also Mini-RX): https://www.youtube.com/watch?v=aBWUALT3WTQ

All mobile beacons know location of other mobile beacons. So, it is very easy arrange Mode 1.

BR,
Maxim

Mark
18 days 19 hours ago

I saw in the video, Two Beacons HW v4.9 with Non-Inverse Architecture are used.
How about two Mni-Rx with Inverse Architecure are used? Does it also work?

admin
18 days 12 hours ago

In IA: Beacons HW v4.9 with different ultrasonic frequencies are used as stationary and Mini-RX as mobile

In NIA: Beacons HW v4.9 on the same frequency can be used as stationary and as mobile. And Mini-RX are used as stationary.

In all case, make sure, that use either 868MHz or 915MHz band, when using Mini-RX, because Mini-RX doesn’t support 433MHz band. So, used Beacons HW v4.9 must also be on 915/868MHz band