80 Hz Sensor Fusion, Direction from One Beacon | Marvelmind

ⓘ Indoor Drone Positioning Technology

A long straight path is a demanding test: any drift, jumps or scale errors show up as a bent or doubled line. In this demo the passes across the hall repeat on top of each other and stay straight over several meters, and rotating the view shows the line stays at a constant height, so the tracking is precise and repeatable in 3D. It also shows direction from a single mobile beacon: when the beacon is turned around at the ends of the line, the direction shown in the Dashboard turns with it. With Marvelmind ultrasound + IMU sensor fusion in the Non-Inverse Architecture (NIA), one mobile beacon captures its direction after about 50 cm of movement and keeps it, even in static, until the system is switched off. That is the light option, with no second beacon, frame or wires, and essentially the only one for small drones such as DJI Mini. Paired Beacons remain available when the direction is needed before any movement. The fast blue dots are the real-time IMU sensor fusion output: 80 Hz updates with 12-20 ms latency. The golden dots that follow are the post-processed track, the most verified layer, which arrives a little later. For indoor drones this is the point: a PixHawk drone takes the fused position directly from the mobile beacon, and a DJI drone, whose flight logic runs outside the drone, receives it on the modem side through the RHU. Configuration: 3 Super-Beacons as stationary beacons, 1 Super-Beacon-4 as the mobile beacon, 1 Modem HW v5.1 as the modem and 1 Modem HW v5.1 as the RHU. The feature is enabled by the MMSW0021 license.