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 also used to track other objects that the mobile beacon installed on, for example, virtual reality (VR) systems, helmets for construction workers or miners, etc.

The navigation system based on stationary ultrasonic beacons which united by radio interface in a license-free band. 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 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


  • 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)


  • microUSB – recommended for permanent use


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)

Additional information


433 MHz (EU), 915 MHz (US)

Questions and Answers

18 days 14 hours 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
18 days 7 hours 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, you 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).