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