Description

This is a Starter Set supporting Inverse Architecture (IA) with 2D tracking (XY) with two overlapping submaps in TDMA mode for more robust and confident tracking in environment with obstructions.

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 the Non-Inverse Architecture (NIA). See more in the Architecture Comparison.

In any Indoor “GPS” system the main requirement – direct line of hearing from 2 or more (for 2D) or from 3 or more (for 3D) stationary beacons to a mobile beacon. In one way or another, this requirement must be met, otherwise, there will be no tracking at all or, worse, jumping tracking, because the system will try to localize based on indirect ultrasonic signal propagation, which, in majority of cases, would result in erroneous positioning. Jumping positioning could be filtered out. But then the user would have no tracking at all.

IA with TDMA submaps provides a more robust tracking in a complex environment with obstructions by having redundancy in ultrasonic submaps/services zones, i.e. two TDMA submaps/service zone cover the same area, the same service zone, but from different beacons from different directions. And the system automatically chooses the best submaps and track based on it. The result – significantly better quality of tracking, robustness of tracking and confidence of tracking in TDMA submaps than in submaps without TDMA.

Content:

  • 1 x Beacons Mini-RX 915/868 MHz as mobile beacon
  • 2 x Beacon HW v4.9 915/868 MHz with 19kHz (or 25kHz or 45kHz) as stationary beacons. Specify the frequency when ordering or it will be shipped based on our choice
  • 2 x Beacon HW v4.9 915/868 MHz with 31kHz as stationary beacons
  • 1 x Modem HW v4.9 915/868 MHz as central controller of the system

Use cases:

  1.  One person or autonomous robot or forklift or another object. Covered area of up to 500 m2
  2. Especially good for tracking people. See demos:

Further expansion:

  • For more mobile objects – add more mobile beacons Mini-RX or Marvelmind Badge or Marvelmind Helmet or Marvelmind Jacket
  • For more coverage – add more stationary beacons and build submaps. Remember that TDMA submaps require doubling amount of beacons per service area

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 and 1D – 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) with two overlapping submaps in TDMA mode for more robust and confident tracking in environment with obstructions.

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 the Non-Inverse Architecture (NIA). See more in the Architecture Comparison.

In any Indoor “GPS” system the main requirement – direct line of hearing from 2 or more (for 2D) or from 3 or more (for 3D) stationary beacons to a mobile beacon. In one way or another, this requirement must be met, otherwise, there will be no tracking at all or, worse, jumping tracking, because the system will try to localize based on indirect ultrasonic signal propagation, which, in majority of cases, would result in erroneous positioning. Jumping positioning could be filtered out. But then the user would have no tracking at all.

IA with TDMA submaps provides a more robust tracking in a complex environment with obstructions by having redundancy in ultrasonic submaps/services zones, i.e. two TDMA submaps/service zone cover the same area, the same service zone, but from different beacons from different directions. And the system automatically chooses the best submaps and track based on it. The result – significantly better quality of tracking, robustness of tracking and confidence of tracking in TDMA submaps than in submaps without TDMA.

Content:

  • 1 x Beacons Mini-RX 915/868 MHz as mobile beacon
  • 2 x Beacon HW v4.9 915/868 MHz with 19kHz (or 25kHz or 45kHz) as stationary beacons. Specify the frequency when ordering or it will be shipped based on our choice
  • 2 x Beacon HW v4.9 915/868 MHz with 31kHz as stationary beacons
  • 1 x Modem HW v4.9 915/868 MHz as central controller of the system

Use cases:

  1.  One person or autonomous robot or forklift or another object. Covered area of up to 500 m2
  2. Especially good for tracking people. See demos:

Further expansion:

  • For more mobile objects – add more mobile beacons Mini-RX or Marvelmind Badge or Marvelmind Helmet or Marvelmind Jacket
  • For more coverage – add more stationary beacons and build submaps. Remember that TDMA submaps require doubling amount of beacons per service area

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 and 1D – 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