Description

The Starter Set Super-MP-3D is designed for precise indoor positioning and navigation. It can be used for autonomous navigation of mobile robots, vehicles and drones; for industrial applications, for example, forklifts or people tracking in a warehouse for safety and productivity.

The set is particularly good for: production automation, warehouse automation, safety and productivity for people and vehicle tracking; building geo-fencing zone and tracking inside them.

The starter set is a multi-purpose (MP) set based on Super-Beacons.

Particular focus of the set is on accuracy of positioning. The set can provide up to ±2cm precision even before additional sensor fusion or filtering. That accuracy is about 10 times better than what ultra-wide band (UWB) provides and about 100 times better than it can provide BLE (iBeacon) based systems.

It is the most versatile (see supported architectures below) and the easiest to set up and deploy (no need for manual distances measurement or calibration) set available today (May 2020).

By default, Starter Set Super-MP-3D supports NIA and IA (https://marvelmind.com/pics/architectures_comparison.pdf):

  • 1D – up to 4 mobile beacons
  • 2D – up to 4 submaps, including fully overlapping submaps and 2N beacon redundancy for optimal tracking
  • 3D – up to 1 submap with N+1 beacon redundancy

With additional licenses Starter Set Super-MP-3D can support:

  • Multi-Frequency (MF) NIA in 3D with N+1 beacon redundancy
  • Multi-Frequency (MF) NIA in 2D with N+1 beacon redundancy
  • MMSW0004: MF NIA support

 

Content:

All beacons (stationary and mobile) are equipped with with 6D IMU (3D accelerometer + 3D gyroscope) and standard 50mm antennas. Effectively, you are getting 5 similar Super-Beacons albeit on different ultrasonic frequencies and a modem.

The HW of the system supports two bands:

  1. License-free ISM band (915 MHz) for the US and countries in Region 2 (https://en.wikipedia.org/wiki/ITU_Region)
  2. License-free SRD band (868 MHz) 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.

 

The Multi-Frequency NIA allows having up to 5 times update rate increase for multiple mobile beacons without location update rate reduction inherent to regular NIA with multiple mobile beacon (“hedges”). Check more about different architectures: Architectures comparison.

All essential SW as well as Marvelmind Dashboard API are already included in the price. Just download the Marvelmind SW pack: https://marvelmind.com/download/ => https://marvelmind.com/pics/marvelmind_SW.zip.

Super-Beacons are a newer version of Beacons HW v4.9 and superior to them in nearly all aspects:

  • Super-Beacons have sharp DSP filters (like Mini-RX or Industrial-RX). The Super-Beacons are more sensitive and more interference resistant than Beacons HW v4.9 that rely on analogue filters
  • Super-Beacons have improved TX part and power-saving features that allows up to 10x battery lifetime improvement over Beacons HW v4.9 (depending on the settings and update rate)
  • Super-Beacons as well as Mini-RX and Industrial-RX use a single wide-beam microphone for receiving ultrasound, thus making submaps in complex conditions (larger distances, for example, or noisy environment) much easier to build, than that with Beacons HW v4.9, because the microphone is always on and it has a wide reception diagram. Whereas, with Beacons HW v4.9 in those challenging conditions, one would need to turn off some sensors and, generally speaking, take care about the number of sensors (RX1-RX5) turned on in order to provide proper coverage, on the one hand, and to maintain the right sensitivity on the other
  • All Super-Beacons have 6D IMU (3D accelerometer and 3D gyroscope)

Super-Beacons are better than Mini-RX and Mini-TX as well:

  • Super-Beacons are dual-use: they can both receive and transmit ultrasound. You can absolutely freely use them as stationary and as mobile
  • Super-Beacons have external pins (UART, SPI, reset, etc.)
  • Super-Beacons have external antenna for longer radio range and larger maps

 

 

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

The navigation system is based on stationary ultrasonic beacons united by radio interface in a license-free band (915/868 MHz ). The location of a 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. No manual calibration is required. No need to know exact locations of the beacons – the system builds the map of beacons automatically.

The set contains a mobile beacon with IMU that gives a possibility for ultrasonic + IMU (3D accelerometer + 3D gyro) fusion. That allows much faster update rate – up to 100Hz and above.

Key requirements 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
  • Mobile beacon with IMU onboard
Technical Details

Distance between beacons

  • Reach up to 50 meters in lab conditions (Transducer4 to microphone looking straight at each other)
  • Recommended distance is 30 meters (Transducer4 to microphone looking straight at each other)

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 many parameters. Mostly:
    1. Mode  – transmitting or receiving
    2. Location update rate – faster update rate – nearly, proportionally shorter battery life-time)
    3. Radio profile – 500kbps better than 38kbps, because shorter
    4. Submap size or limitation of distance – shorter distance => longer battery life-time
  • Examples:
    • Receiving beacon 8Hz update rate and 10m submaps => up to 65h (tested)
    • Transmitting beacon 8Hz update rate => up to 130h (tested)
    • Receiving beacon 1/10Hz update rate and 10m submaps => more than 500h (tested)
    • Transmitting beacon 1/10Hz update rate => more than 500h (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

The Starter Set Super-MP-3D is designed for precise indoor positioning and navigation. It can be used for autonomous navigation of mobile robots, vehicles and drones; for industrial applications, for example, forklifts or people tracking in a warehouse for safety and productivity.

The set is particularly good for: production automation, warehouse automation, safety and productivity for people and vehicle tracking; building geo-fencing zone and tracking inside them.

The starter set is a multi-purpose (MP) set based on Super-Beacons.

Particular focus of the set is on accuracy of positioning. The set can provide up to ±2cm precision even before additional sensor fusion or filtering. That accuracy is about 10 times better than what ultra-wide band (UWB) provides and about 100 times better than it can provide BLE (iBeacon) based systems.

It is the most versatile (see supported architectures below) and the easiest to set up and deploy (no need for manual distances measurement or calibration) set available today (May 2020).

By default, Starter Set Super-MP-3D supports NIA and IA (https://marvelmind.com/pics/architectures_comparison.pdf):

  • 1D – up to 4 mobile beacons
  • 2D – up to 4 submaps, including fully overlapping submaps and 2N beacon redundancy for optimal tracking
  • 3D – up to 1 submap with N+1 beacon redundancy

With additional licenses Starter Set Super-MP-3D can support:

  • Multi-Frequency (MF) NIA in 3D with N+1 beacon redundancy
  • Multi-Frequency (MF) NIA in 2D with N+1 beacon redundancy
  • MMSW0004: MF NIA support

 

Content:

All beacons (stationary and mobile) are equipped with with 6D IMU (3D accelerometer + 3D gyroscope) and standard 50mm antennas. Effectively, you are getting 5 similar Super-Beacons albeit on different ultrasonic frequencies and a modem.

The HW of the system supports two bands:

  1. License-free ISM band (915 MHz) for the US and countries in Region 2 (https://en.wikipedia.org/wiki/ITU_Region)
  2. License-free SRD band (868 MHz) 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.

 

The Multi-Frequency NIA allows having up to 5 times update rate increase for multiple mobile beacons without location update rate reduction inherent to regular NIA with multiple mobile beacon (“hedges”). Check more about different architectures: Architectures comparison.

All essential SW as well as Marvelmind Dashboard API are already included in the price. Just download the Marvelmind SW pack: https://marvelmind.com/download/ => https://marvelmind.com/pics/marvelmind_SW.zip.

Super-Beacons are a newer version of Beacons HW v4.9 and superior to them in nearly all aspects:

  • Super-Beacons have sharp DSP filters (like Mini-RX or Industrial-RX). The Super-Beacons are more sensitive and more interference resistant than Beacons HW v4.9 that rely on analogue filters
  • Super-Beacons have improved TX part and power-saving features that allows up to 10x battery lifetime improvement over Beacons HW v4.9 (depending on the settings and update rate)
  • Super-Beacons as well as Mini-RX and Industrial-RX use a single wide-beam microphone for receiving ultrasound, thus making submaps in complex conditions (larger distances, for example, or noisy environment) much easier to build, than that with Beacons HW v4.9, because the microphone is always on and it has a wide reception diagram. Whereas, with Beacons HW v4.9 in those challenging conditions, one would need to turn off some sensors and, generally speaking, take care about the number of sensors (RX1-RX5) turned on in order to provide proper coverage, on the one hand, and to maintain the right sensitivity on the other
  • All Super-Beacons have 6D IMU (3D accelerometer and 3D gyroscope)

Super-Beacons are better than Mini-RX and Mini-TX as well:

  • Super-Beacons are dual-use: they can both receive and transmit ultrasound. You can absolutely freely use them as stationary and as mobile
  • Super-Beacons have external pins (UART, SPI, reset, etc.)
  • Super-Beacons have external antenna for longer radio range and larger maps

 

 

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

The navigation system is based on stationary ultrasonic beacons united by radio interface in a license-free band (915/868 MHz ). The location of a 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. No manual calibration is required. No need to know exact locations of the beacons – the system builds the map of beacons automatically.

The set contains a mobile beacon with IMU that gives a possibility for ultrasonic + IMU (3D accelerometer + 3D gyro) fusion. That allows much faster update rate – up to 100Hz and above.

Key requirements 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
  • Mobile beacon with IMU onboard

Additional information

Frequency

915/868MHz (US/EU)

Questions and Answers


Mikha Bolon
1 year 1 month ago

Hello
i want use this to contorl and monitoring my robot with arduino for microcontroller. Please give explaint about:
1. Intetrface to arduino..
2. How can i control the movement from your dashboard software
3. How can robot know the the distance and direction to next point?
Thaks

admin
1 year 1 month ago

1) Please, check here: https://marvelmind.com/download/ => https://marvelmind.com/download/#arduino

2) Yes. There is a manual control. And you can send a path to the robot. Here are a few links:
https://youtu.be/vrn0N97A-8g
https://youtu.be/rjcnDvrS7yk
https://youtu.be/TBTw1njQ7QY
Also, please, check the Operating Manual for more details.

3) The path that is sent to the robot gives the robot the information about the next point. The Indoor “GPS” gives the robot the information about the robot’s current location.
For direction, we recommend the Paired Beacons: https://youtu.be/aBWUALT3WTQ?t=91

Noam
1 year 6 days ago

Hello, is it possible to operate more than one robot in the same arena (each carrying a beacon and being tracked by the device)?

admin
1 year 5 days ago

Absolutely! The system supports up to 250 beacons (stationary and mobile in any combination) and up to 250 submaps. You can build very large setups. Some demos:
Two robots in a warehouse in IA configuration
90 robots for swarm robotics in IA configuration
Two ships in MF NIA configuration

More about different architectures: link.

By the way, this set supports 3D in 3+1 redundancy. But you can use it for 2D as well. If you just build one 2D submap without redundancy, then you need just two stationary beacons. Thus, with this set, you can run up to three robots in 2D.

Mat
23 hours 33 minutes ago

Hello, what is the difference with the Starter Set HW v4.9-NIA ?

admin
21 hours 56 minutes ago

Please, see the beacons comparison: https://marvelmind.com/product/super-beacon/

The Super-Beacon is an improved and in all-the-way superior version of the Beacon HW v4.9:

The Super-Beacon has a separate receiving part with a single wide-beam microphone and sharp DSP filters (like Mini-RX or Industrial-RX or Industrial Super-Beacons have). Thus, it is more sensitive, than Beacon HW v4.9; more resistant to external noise; and easier to setup, because you don’t have to care about turning on and off ultrasonic sensors in order to optimize coverage vs. sensitivity
The Super-Beacon can receive any ultrasonic frequency from the bands: 19kHz, 25kHz, 31kHz, 37kHz, 45kHz. The filter can be simply selected in the Dashboard. At the same time, the ultrasonic frequency of Beacon HW v4.9 is HW-defined by ultrasonic sensors and can’t be changed
The Super-Beacon can receive several ultrasonic frequencies at once. That is used in the Inverse Architecture (IA) and in the Multi-Frequency NIA Architecture (MF NIA). See the architecture comparison
The Super-Beacon has several-times improved battery lifetime in TX mode as compared with Beacon HW v4.9
The Super-Beacon can work with regular Beacons HW v4.9 and Mini-RX and Industrial-RX in any combination as a part of a Starter Set or as a part of navigation systems. In all cases, the beacons shall use the same radio band