Indoor GPS Setup Mistakes & Debugging Guide | Marvelmind

0:00 Hello colleagues, let's start again from the basics. What are those basics? How to start up with the system, debug with the system. What are the typical mistakes that people do and how to avoid them? What are the solutions? General basic recommendations: when you build the system, of course, study the placement manual, operating manual, and follow those. But if you don't, and you want to start from scratch, the recommendations are simple. Build the most simple 2D configuration. So a 2D configuration means that you take two beacons—two stationary beacons—and place them on the wall like we recommend in the operating manual with, whatever, five or six meters between them. Ideally, they must be placed like this, slightly like this, and in front of me there will be an area where my mobile beacon will be moving. Why like this?

1:04 Because the sensitivity diagram of their microphone is in front and to the side—it doesn't hear very well. So it means that when you place like this, it will listen to each other, but maybe it's not optimal. So we suggest, you know, to put them slightly like this, so slightly, you know, facing each other. And there the beacon must face the area where you will be getting your mobile beacon tracked. So that's the first one. And once again, 2D, one mobile beacon, and non-Inverse Architecture. Why Non-Inverse Architecture? Because in Non-Inverse Architecture, the mobile beacon is transmitting and the stationary beacons are receiving. And whatever frequency you choose for the mobile beacon, you cannot make a mistake. In Inverse Architecture,

2:05 you can make a mistake because, for example, there is a frequency written on the beacon, and I will talk about this a bit later. But some people do the mistake by forcing a beacon in Inverse Architecture to work on their non-native frequency. So, for example, I have a beacon 37 kilohertz in front of me, but some guys are, you know, just setting 31 kilohertz—it will not work. Never set their ultrasonic frequency for transmission different than the native frequency that is written in the white label. It will simply not work. For the reception, it can get any frequency. Because if you're talking about Super-Beacons—for Beacons hardware version 4.9, which are older and mature beacons—you don't have any freedom. So transmission frequency and receiving frequency must be the same as written here. But

3:08 for the Super-Beacons, the receiving frequency can be any—and the system chooses automatically—and the transmission frequency only as written here. But once again, when you start to build 2D, a map consisting of a single submap, consisting of one single mobile beacon and Non-Inverse Architecture, which is the simplest configuration you can get, which gives you the least chances of making mistakes. The next is, of course, this is the simplest configuration. It's not what you wanted to have or build, and increase the complexity one time, one step at a time. We made already those recommendations multiple, multiple times, but people keep making mistakes. That's why we are shooting this video once again. So one step at a time. What does it mean? For example, you have a Non-Inverse Architecture. Another step would be to move from Non-Inverse Architecture to Inverse. You don't change anything. You don't increase the number of beacons. You don't increase the number of mobile beacons. You don't change anything. You take

4:13 the same beacons—hopefully they were on different frequencies, otherwise you would have to replace the beacons—and update the software from Non-Inverse Architecture to Inverse Architecture and test in exactly the same setup. After you get the perfect Non-Inverse Architecture tracking, you update the software to Inverse Architecture on stationary beacons, on the mobile beacon, and you see the perfect track in Inverse Architecture. Everything else is the same. So you just changed from Non-Inverse to Inverse. That is one step. Then, as soon as you reach that, you can do the next step. It could be, for example, introducing another mobile beacon. So you had one, now you introduce another one, and then you know, run two or more. That would be the second layer, the second step. Or instead of this, you say, 'No, no, no, I don't need the second mobile beacon. I want a wider area.' In this case, you introduce the second submap. Still, all the same Non-Inverse Architecture. For example, you were in Non-Inverse Architecture.

5:18 You build one submap, and then you move instead of Inverse Architecture—you move to the second submap. So you build the second submap, but everything else is the same: one single mobile beacon, and still Non-Inverse Architecture. You introduce the second submap, you do and build it like the first one, separately from your first submap. Make sure that in the second submap the tracking is perfect. Then you follow our recommendations about the service zones, handover zones, and everything else. And then you freeze it, and then you have the map. But the point is, don't try to jump over the steps. Don't try to build, you know, the final configuration that you wanted. You will, but do it in steps, in small steps, single step at a time. If you still get stuck, then, you know, the basic recommendation is still the same: disassemble, return to the previous point where you were successful, and then start from there. Do this minor

6:20 step at a time, and then you will be able, you know, to succeed and debug and see, 'Okay, well, I moved this, it didn't work.' Then it will be much, much, much easier for you to understand what exactly was wrong—either the frequency was wrong, or no line of sight, or many things that could be wrong. And if you jump over the steps, obviously it's more difficult for you to see where exactly the problem was. This is an example on the drone. The drone is probably the most complex one because it's in 3D, because it's autonomous. But the logic is the same. I will be explaining based on the drone, but it's the same for, let's say, an autonomous robot. Okay, when you start—'I want to fly an autonomous drone or multiple autonomous drones'—just another layer of complexity—in Non-Inverse Architecture, using the paired beacons and using the mission planner. You still start with the same. You build a basic 2D

7:23 map consisting of a single submap with a single mobile beacon. It doesn't matter that later you increase—you increasingly start with the same. You build it, you know, get perfect tracking, no jumps, you know, everything is ideal. Great. Then you still don't touch the drone. Drone is there, you know, let it charge, et cetera. You build the same, but in 3D. So you add additionally two beacons. Now you have four beacons in the map. You repeat. You remember to set the heights. You remember that when you freeze, the table of distances must be white—all those basics which are described and highlighted in the operating manual, you follow. But from 2D to 3D. Then you put this on the drone, but the drone is still inactive. You simply, you know, connect the mobile beacon to the drone or put the mobile beacon on the drone, and you just grab the drone and repeat the same tracking. What do you add? You add that the power of the drone is there, telemetry is probably active or something

8:29 like this. You don't fly the drone yet, not yet. But you already increase the complexity because it's on the drone, and there may be something, you know, distracting, abstracting, disturbing in one way or another. You detect and confirm that there is no disruption and the tracking is still the same. Fine. Then you can go further. What is further? You activate manually the propellers. They start to produce noise. The same with the robot. So you have, for example, our Marvelmind robot. You do the same. So before you really, you know, drive the robot autonomously, you do this basic tracking: 2D. Then, for example, you don't need 3D tracking for the robot. You jump over the step. You activate the beacon on the robot—not just the mobile beacon, but on the robot—and drive the robot, not even drive, but move the robot around. Works fine. Then you drive the robot manually: left, right, turn—still works, okay? Then you are ready for the next step. What is the next step? You remotely control now the

9:34 drone is flying remotely, like, you know, a remotely controlled plane, a remotely controlled drone—not yet autonomous—or you drive the robot around, still in absolutely manual mode. And you check that tracking is still good with everything active. And after that, you are ready to do something autonomous. In case of mission planner or ArduPilot, you go there and you start building the map and start, you know, putting the waypoints and try to fly it autonomously. Or in case of our robots, you do the path in the Dashboard and send it. At this stage, you may still have not paired beacons but a single beacon for the robot, since it has two beacons. And for the drones to fly autonomously, we usually recommend two mobile beacons on the drone, so you make sure that both are tracked simultaneously, not yet in the paired mode but in the single mode. Well, because you

10:42 You cannot have a paired beacon working well if single beacons do not track perfectly. So when you achieve tracking for each of them separately, only then you pair them. Because otherwise, if this is tracking well and this is not, they'll be jumping. Since it cannot jump because they are paired and there's a fixed distance between them according to their system, it would behave like this—like it's turning—which is not the case. In fact, it's that the tracking is not perfect. And then, which one is it? So this is why before you do the paired beacons, you track them separately and independently. Only after this are you ready to fly it autonomously or drive autonomously. The logic is simple, and I hope that you understand this. So key points: don't jump over the steps. Do one step. Complexity increases over time.

11:45 Typical problems: software, software, software, software. Even so, we keep repeating it multiple times. Still, mistakes are the same. Make sure that the software is taken from the same software batch. Because when you produce, you produce maybe months before you get the beacons. After that, or modems, or whatever system. And after that, the software is updated. So it means that you may have their beacon with one software level, the modem is another software level, the dashboard is already at the third software level. No, always when you get the system, the first thing that you do is open, of course, the operating manual and do everything according to the operating manual. But the first thing in the operating manual is connect over the USB and upload the latest software for all network elements. All means all the beacons—mobile and stationary—the modem, and the dashboard. It must come from the same software pack. And the biggest, biggest, biggest, biggest mistake is that

12:50 guys just take and run. No, I already explained why they are produced in different time from different batches. So you need to update the software to have it from the same software package. Then, during the testing, you could be testing the production, could be testing their settings, maybe whatever—random, no, almost. So what you do, you really press the default button. So let me move to the dashboard. So, for example, I have the beacon, and this is the default button. This is the default button. Press it. Press it. Sometimes when I want to be super safe, I press the default like I said, press default, something like this. But anyway, so I must press the default to upload the default settings. You see, if you mess up with the system heavily—and some people do—so it doesn't default everything. For example, one of the major mistakes

13:52 is the ultrasonic frequency. We even allow you to change it because we allow you a lot of things, but you must not change the ultrasonic frequency from the native frequency list on the board. So it meant that even default doesn't default to the right frequency because it cannot know what is right, because we allow you to change it—because it's a very, very versatile system. Even though if you do it, even defaulting will not help you. So it means that you must make sure that the frequency which is set here—the ultrasonic frequency—is the same as on the label. Then, the next thing: beacons are not placed correctly. Now, there are many ways you can do it wrong. I don't know, starting from the fact that beacons are not facing like this—I don't know, this facing is front and the mobile deck is there, and you place it somewhere

14:58 to mild the errors. Like, for example, these beacons are placed correctly, but this one is kind of a bit behind, yeah. And if it's a bit behind, then their microphone cannot hear it because it's in the shadow of its own body. So you cannot—this is why I said ideally you place them like this so they are slightly turned to each other so they hear the mobile beacon, but they hear each other as well. So this would be very, very ideal for 2D. So their face like this, so this would also be okay on the wall. Okay, until you have a very, very large distance—whatever, 30 meters between them—then it could be. But since we are talking about the starting up, we always suggest you know, put them on good distances like five meters, I don't know, 10 meters. No, close. Not—don't go to the extremes right away. So follow the operating manual or sorry, placement manual. There are many examples for 2D.

15:59 tracking for 3D tracking, for precise tracking, for multiple, etc. But start with basic 2D. When you have basic 2D tracked, then everything else you would already know much better. So table of distances is not white when you build the system. So this is the table of distance. In the table of distance, you must make sure that the distance from, in my case, 13 to 11 and 11 to 13 is the same, and the system is showing white. It—when it's fine, then you can freeze the submap. If it's not white, you must not freeze the map because it's not ready. The system is reporting, although there's a problem, you know, the distance doesn't match. There's something. Don't freeze the map when it's not the correct distances. When the distances are mismatched, for sure there will be mistakes. So don't do this mistake. It's a basic one, like all other basic mistakes, but still. So table of distances must be white when you freeze it. Another one

17:07 you freeze the submap. Oh sorry, okay, I freeze it. So you freeze the submap, but you don't freeze the map. You must freeze the map before the beacon will be tracked. What happens when you freeze the map? When you freeze the map, you see I'm using currently the latest software which you don't have yet. It will be published in whatever, in a week. So we particularly address this point. So now in this new latest software, even without a frozen map, the beacon will be kind of updated, not with the right frequency, but at least it will be not dead. In their current software, and in general, our recommendation: you must freeze the map. For what? Because when you freeze the map, the map is uploaded to the mobile beacon. Before the map is frozen, the beacon simply doesn't know anything about the map. The beacon is not able to be tracked. So this is why you must freeze the map. And that's a very, very typical mistake that people

18:13 freeze the submap but forget freezing the map. So you must freeze the map. Next: USB cables. We do have even, you know, special photo and USB cables are indeed very different—really different. Even though it's standard and universal, they are so different in mechanics and electrical properties and in quality, etc. So just don't assume anything. Even if you are saying, "Okay, I used it, it must work"—okay, you can keep trying. But our basic recommendation: you know, throw it away and connect another USB cable. Maybe second, maybe third. They are really different, really different. And it's about the physical USB cable, but also the USB port. For example, I had a laptop which from time to time lost all left USB ports—whatever glitch in Windows, I don't know. You can

19:13 of course debug the Windows forever, but since you know time is pressure, choose another port, choose another computer. Maybe in some extreme cases, I even jump from Windows to Linux. Maybe there is a very, very, very peculiar combination of something—USB port plus Windows plus software version plus resolution, I don't know—but the logic is the same: don't try to spend too much time. Just change the USB, change the cable, change the USB port if needed, change the laptop if needed, change the beacons or the modem if needed. I mean, just swap them and see what's going on. You will save a lot of time. Then, the biggest issue of all is no line of sight. Guys, our system is precise. Precise means that we are talking about centimeter-level accuracy, significant letter-level accuracy. Things require line of sight. We have several videos about this. It's about physics, of course. Since we're using ultrasound, even my own body or even basic

20:16 sheet of paper will be blocking the ultrasound completely. But we tested ultraviolet band, which is supposed to go through the body—yes and no—because my own body is different in properties than vacuum. So it means that when it goes through me, even if it goes through me, their electrical length is different from my length physical, because you know I consist of water mostly and the permittivity of my body is different from vacuum. So it meant that the distance is not like this, but probably it's like this. So the result jumps all kind of things, etc. So to make the story short: line of sight, line of sight, line of sight, line of sight. Line of sight between what and what? No, first of all, when you build the map, line of sight between the stationary beacons. So when you place the stationary beacons and levels on the wall, they can't see each other. What will happen? The signal will go, will reflect against the opposite wall, will come back, and it will think that in

21:21 In fact, my neighboring beacon is not, whatever, five meters away, but like I'm 15 meters away. Like, mirror—uh, it's not a problem when there is line of sight because we see this, and of course there is a reflection, but who cares? Our task is to detect the first signal, and we do detect it correctly, always correctly, when there's line of sight. When there's no line of sight, it's impossible, physically, to measure because, you know, what is this? How to measure the distance when there's no line of sight? So line of sight is required. Uh, take care, like really take care. Make sure, you know, even come to the beacon and see how it sees, because you may be, you know, looking at the beacons from several meters and you may believe, "Okay, I see it." But when you approach, "Oh no, I cannot," because antenna—its own antenna is blocking, you know? The microphone is tiny, like one millimeter, and your own antenna may be blocking. I already mentioned, so you may see that the beacon is in—

22:24 Fact, like this, turned like this. So it means that your own sensors are blocking their—the microphone. So all these small things, but when you make my one small thing, another small thing, first they accumulate. Even a single one can completely destroy, and then all the mistakes are coming. So if you follow the basics, everything works like from the scratch. If you don't, then you create a lot of mess. This is the—may try to recover, uh, but it depends on the level of mistake. No heights are set, particularly for 2D. Uh, for 3D and 2D, you always must provide the height for the stationary beacon because height is kind of relative. I'm sitting on the fifth floor, so against my floor the height is whatever two meters, but against the ground floor is whatever 30 meters, but against what I'm, what, whatever, on the mountain, against their ocean level, it's whatever two kilometers. So it totally depends what is the height. So you must provide the height against your floor because everything else will be also against this virtual floor. So provide the height, set—

23:29 It. We're set up very, very simple. You go once again to the Dashboard. You choose the stationary beacon, and this is the height: 1.9 meter in my case. Always, for 2D, you must set the height not only for the stationary beacons but also for the mobile beacon. So I set it to 1.4 meters because my station—uh, my mobile beacon is somewhere there. So, um, so this is not a typical mistake. Heights are not set, uh, by default. We do have these zeros, so zero means that the heights are the same. Uh, so this—why it's not a capital mistake if you don't set the height. It may work. It may have, you know, decent, decent, uh, tracking. But what will happen? You will have a shift because height error, uh, manifests itself in X-Y, uh, error. But it's kind of fixed error, so it means that you, you are kind of taking this area, but since you didn't set the height properly, it may be—

24:32 Tracked like this. So taking will be okay, but the absolute position will be not okay. Um, then another thing you see: we have a noise. This noise is basically saying, in my 2D map, I cannot, you know, geometrically distinguish—you know, it's a basic geometry. I cannot distinguish between position of the beacon and this point and at this point because how the system works. The system is measuring the distance from the mobile beacon to the stationary, and from this to this. Since this distance and this distance is the same and this distance the same, there are two points where these distances, uh, satisfy. Uh, normally you would need more than two beacons in order to resolve this issue in 2D. But since I want you to save on number of beacons you are buying, it's sufficient to use only two beacons for 2D, but you must specify in which hemi-plane or semi-plane you are using, and this is specified—

25:38 By this. So it means that this is why we recommend that you do place the beacons on the wall. When you physically place the beacons on the wall, like in my case, you cannot go through the wall, so you cannot make this mistake. So don't place the beacon so that you, you can make those mistakes. No, just placing them on the wall is—this is easiest. And then you would be able to, you know, run them about beacon, and if I approach there, closer, closer, closer to the line connecting, then some point of time it will be reflecting and back. If I'm going through this, it will not go through. It will go like this. Oh, first of all, let me increase the number of dots times, uh, so it will. If I go from this area to this area, it will go like this, and then it will reflect because, uh, we are basically setting and telling the system, "Look, it's only this, uh, uh, semi-plane. Don't, don't try to position here. No, there's nothing." But some people place them about beacons, you know—

26:46 Right in the middle of their warehouse and cross the line, and of course there is a mistake: mistaking placing the beacons and not paying attention, uh, to this line connecting. So please do, uh, microphone settings. This is a bit more complex, and our regular recommendation is usually, you know, press the default button. The microphone settings are here. So in this area—study. I will not show now because it would be, you know, just too much. But study, particularly Super-Beacons, uh, with external microphones, is rather complex. Like, omni-microphone by default, there's only one. Okay, this is RX. So since we support up to four microphones, so this is a beacon. It has only one embedded microphone, so it must be RX1. But when you have additional microphones, when you have, for example, omni-microphone—omni-microphone consists of four microphones in the paired configuration—so you switch them, uh, here in regular mode. I will not do this right now, but—

27:49 Regular mode, uh, paired, whatever, study in the operating manual. So there are several settings. So, uh, if you don't do this, then you can, you may accidentally switch off your listening microphone, or opposite, you may enable the microphone that do not exist, and it will listen to something, and there's no signal because you don't have the microphone. Or if you have only microphone, you may switch to a single beacon and—or single microphone—and omni can hear from four directions, but it will hear only from one direction. And it's pretty difficult to spot because it's kind of listening but not well because it will be listening only from this direction and be deaf from this three directions. So it means that when the signal is coming like this, it will not hear. The omni-microphone will not hear, but it will hear, for example, a reflector signal, a little bit mess. The whole idea is make sure that you, uh, have all their microphones in the right position. The same for—

28:54 Their transducers. There are five transducers. When you default, all fives are enabled. But sometimes, for example, you don't need five, and you just simply forget to enable them back. Why and when? Well, example: I have my tomb about beacons, or two stationary beacons. And this is covering 90 degrees. This is covering 90 degrees. Uh, why do I need this and up facing? No, I don't need it. What do I need? No, I don't need it. Left, right, I don't need it. And I may enable only this one. This would provide me the highest, uh, accuracy because it will be a small spot emitting, not all five ingredients averaging a meeting. But it will be a small single dotted spot emitting. So that provides the highest accuracy for tracking. But at the same time, remember that if you change and you forgot, then you place the beacons like this, then the map will be not built because this will be meeting, uh, but not emitting this one. And if you place them like 20 meters apart, uh, this transducer emit—

30:00 Very, very poorly, uh, in that direction. So it means that you must enable all their transducers in order to do. Sometimes all, sometimes only, uh. For example, if you place like beacon like this and you want cover in front, then you disable this one, you disable this one. How to disable? No, like this. So I disabled. Now I enabled. But make sure that you don't forget it. And if you have something messy, check it, check it. The same for this. So it means that they're settings for transducers—what I'm eating—and settings for their, uh, microphones, make sure that the settings are right. Uh, what else? The map may be mirrored, um, also. You see, there is beacon number 11 and beacon 13. It's very easy to mirror the map. Okay, map is frozen. It doesn't allow me to mirror, but let me make the mistake. You see, I mirrored the map, and now if I will try—

31:07 To freeze, it will show me differently. So, uh, how, how do I know that, uh, the map is mirrored? When it's something, you know, strange going on, so I take the beacon and I move the beacon to 11, but in fact it's moving to 13 in my case, and so forth. So make sure because you may have a perfect tracking but it's kind of inverted. So in order to do this, this is, this is your button: Map Mirror. And another one is this, uh, Map Ceiling. Uh, it's also depending on where the station begins because the station becomes maybe above or below. You must not cross this line as well because, uh, if you do—for example, for 3D tracking. For 2D, it doesn't matter because it's irrelevant. You, you don't have a flexible set that must be the same. But for 3D, it does. And if you cross the plane connected, uh, I mean with the beacons, so the system doesn't know you. It needs the fifth beacon, uh, in—

32:10 In order to understand where this is, it means that you may have increased the height, and it would be decreasing the set here, and vice versa. So use this button for 3D. But since we are checking now the most basic, basic, basic—so we assume that you are doing 2D, not yet 3D. But remember these buttons: when you move in the right direction, their position on the dashboard is moving in the wrong direction. About the service zone: this is already one more layer, more complex. Because when you start building the maps, you have only two mobile beacons, for example, in their submap, and you freeze the map. And there's always a service zone, even if you don't specify. There's always, and we set the

33:11 30 meters as the limit—30 meters from the 30 meters from their stationary beacons to the mobile. So each of the stationary beacons does not listen more than 30 meters divided by speed of sound, and then they just stop. So they listen for 30 meters distance, and then they stop. So even if you don't see it, their kind of area would be something like this. Service zone would be like this. But if you build their second submap—okay, I will not explain how to build the second submap. We have videos about this. But you have, you create the second submap, then you populate the second submap with the station beacons, you assign, et cetera. But what will happen if you don't set the service zone in each of the submaps? Each of them is small, for example, five meters, and another five meters. So what will happen? You will have huge overlapping areas, and majority of area

34:14 will be overlapping. So it means that, for example, in this point, this submap will try to position the beacon, and this submap will try to position the beacon because it's still within their service zone, which is now 30 meters by default, which is wrong. This is why we say when you build multiple submaps and a map consisting of multiple submaps, you must specify the service zone. Service zone is the area of responsibility of each of the submap. So in this case, this is your area of responsibility, and this is the second submap, and this is your area of responsibility. There must be a handover zone where it's both, but it's relatively narrow and controlled, like one meter or two meters, depending on the speed of your mobile objects. But if you don't do this, if you don't specify the service zone, then the maps are kind of fighting. Okay, I will define the position. No, I will define the position. The system will try to take the best information, but it's confusing the system because there are like too many opinions about the same position.

35:19 So avoid this. Avoid it. It will try in many cases, it will do pretty well, but this is already the wrong way to wrongly complicate the situation when it must be much simpler. So those are the basic mistakes. Try to avoid them. This just highlights what people do, but there are many more, but these are kind of typical, typical, typical, typical examples of very bad mistakes. Let me try to replicate them. The very big mistake was just, you know, accidentally discovered today: tape or attach the stationary beacon to the wall with the tape. It's like, you know, I don't hear. I can't see it. It's like this because tape is not sound transparent. You completely block transmission and reception. So it means that the beacon cannot shout ultrasound and cannot hear ultrasound at all.

36:26 It may try, because, you know, tape is not sealing completely, but it's a mess. It's a mess. Why? Because it will go from this, and then it will reflect. So it can go and can listen, because the microphone is very, very sensitive. So it can hear like this from the opposite. But it's bad. It's very, very bad, because most likely it will not work well. It will be something, and it will be very complex to debug, because you will see the tracking, but the tracking will be terrible, and it will be very difficult to see why exactly it's terrible. So we discovered this just by accident, because, you know, the tape is not even seen well. So never, never, never close this. It must be like this. This is a listening point. This is a transducing point. They must not be obstructed at all—not in the middle, not, of course, like this, by the tape or by the box. Because some people are placing the beacons on the inside of the box, plastic box, to protect the beacon against

37:29 the moisture. No, no, of course, you cannot and must not do this, because it will completely destroy the system. This is why you have their outdoor versions, and they have special membranes. This is why they are protected by default with this special membrane. So this is why we have outdoor versions. They are not for nothing. You must not close the beacon somewhere inside the box. Another, maybe even more typical but very, very capital mistake I already mentioned a couple of times: check the label. For example, I have Super-Beacon 1915, so it means that it's 1915/868 meters band—so high-frequency band. Then it has 37 kilohertz. So I don't know, maybe it's 37 kilohertz. And I also play beacons that have IMUs. Now they talk about the 37 kilohertz, and this we already mentioned. So this is my beacon. I choose the beacon, and this is the frequency.

38:30 If the beacon is 25 kilohertz over there, it must have the ultrasonic frequency only 25. You must not change it. If you change it, it's a very, very bad thing, because what will happen? You force the beacon 25 kilohertz, even though its native frequency is 31. The result will be like this: it will try to emit on 25, and it will partially emit on 25, but poorly, because it's not designed for 25. These transducers are very resonating, and they're resonating on 31 kilohertz. So 25, it will try to emit, but pretty poorly. But since it's resonating, it's like, you know, I kick it and it starts resonating at 31. So even if I try to do 25, it will also resonate with 31. As a result, it will kind of resonate on both frequencies: 25, because I'm forcing 25, and 31, because it's native frequency. It's kind of producing the tone there. As a result, complete

39:31 mess. You will have tracking, but very terrible jumps and all kinds of things. So don't do this. Simply don't do this. If you see something really strange, it's either line of sight—which is most, most, most, most likely—or non-line-of-sight situation, or you have this very capital mistake. Check the label. Check all the beacons, really all the beacons, and repeat everything from the start. Jumps: now I already mentioned jumps. This is a particularly important thing, because this is what defines good tracking from bad tracking. Now let me even try to replicate those jumps. I have the beacon and the beacons here placed on the white box, and my station beacon is over there. Now let me try to make it. I don't know whether it will work or not. I will make several mistakes. First of all, I change the height, even though it's 2D, and I will try to hide the mobile beacon from one of the station beacons, basically behind there. Let's see.

40:41 It's already kind of behaving pretty strangely. Even though now maybe my block is not too blocking. So let me—but oh, okay, now you see. Now it's happening because my own body—I don't see either one or both. No, anyway, so you see this is happening. So once again, now it sees. Tracking is good. No, let me zoom. Clicking is good, and everything is good. Now let me—so you see, it's perfect tracking because it sees well. Let me once again. Maybe now you see it's kind of partially tracking, parsley not tracking, but seems that this is not blocking too well. But my own body—let's see. Okay, all the mess starts when there's no line of sight. So this is the biggest, the biggest mistake that people do. So line of sight, line of sight, line of sight.

41:46 And what is next? Next could be noise. By the way, noise near the listening beacon: in Inverse Architecture, the mobile beacon is listening, and in stationary—in the Non-Inverse Architecture, the station beacons are listening. Even though, you see, I'm shouting pretty loudly, since—or no, you can see that it's working well even though I'm very loud and this station beacon is a few meters away. It works well. So it's not the problem. Why not? Because I'm not producing ultrasound. If I were, you know, a bat and producing ultrasound, it would disturb, and particularly if I were 37 kilohertz. So okay, 37 kilohertz and 25 kilohertz. But I will still try to make the noise which would disturb, and the noise which would disturb is a high-pitch noise and high-frequency noise, which is kind of a wideband noise. Let me produce this very bad noise. You see.

42:52 It's the most terrible situation because I'm producing extremely loud noise. I'm basically shouting directly to the beacon. It still survives, but you can see what's going on using the oscilloscope. It's pretty simple. So my beacon is 14. I'm choosing which beacon will listen and which beacon will listen from. This is just too strong a signal. Let me make it less strong. Still very, very strong. Okay, now you can see how the hedgehog sees the stationary beacon number 11, and this is how it will see the stationary beacon number 13. So the signal is weaker because the frequency is different, or 37 kilohertz. It's fine, but let me now produce the same voice or the noise that I produced before.

43:56 You see the level of noise is significantly higher. Still the ultrasound is overshoot because we have sharp filters, etcetera, but the logic is still the same. It's always about signal-to-noise ratio. Now the signal is strong, the noise is very strong, but still our filters are very, very sharp. So if I go far, like 20, 30 meters away, such loud noise would probably block the signal. It will be jumps. So when you see the jumps, it's most, most, most likely jumps due to bad line of sight. It's like 95 percent, but the remaining could be due to external noise next to the listening beacon. In Inverse Architecture, it's mobile beacon, and in Non-Inverse Architecture, station beacons. So this is basically why you can choose this in Non-Inverse Architecture versus Inverse Architecture. For example, drones are very noisy, so this is why for drones, Non-Inverse Architecture or Multi-Frequency Non-Inverse Architecture, the mobile beacon is emitting.

44:59 And since mobile beacon is emitting ultrasound a very, very narrow band, very narrow channel, so even a very noisy drone, heavy noisy drone, it doesn't matter because the station beacons will be filtering the wideband noise, and signal-to-noise ratio in our channel would be enough, sufficient, so that we would be able to detect the signal produced by the beacon itself. But if you try to use Inverse Architecture for the drone, it wouldn't work because the noise would be just too wideband and too strong for the beacons if they are placed far away. So it meant that you would need to move them closer, or maybe even closer, depending on the signal-to-noise ratio, depending on how strong the noise is from your drone, how far the distance is. So at some point in time it will start working again, but this is what we don't recommend. So it's much better that you do the Non-Inverse Architecture.

46:00 And simply overshoot the noise. And the software mismatch, already mentioned in the beginning. All weird stuff is usually starting because their software is not right. Modem software, Dashboard software, mobile beacon and station beacon, or some of them is not right. There is a check here, this field. Okay, currently I have beacon 11 discharging, which is bad. Okay, we wanted to shoot the video, but check. And when you click this, there is information here that clearly reports that there's a software mismatch, or you try to do Non-Inverse Architecture beacons with Inverse Architecture because all this kind of messy stuff. So it will highlight here. So just listen to the Dashboard and fix the mistake. Okay, something happens. So don't let the mistake confuse you.

47:04 Okay, so what to do? No basic stuff. Basic return to the basics, and it means that your table is this. Download now. Your starting page is download. This is a periodic mineral, and this is your application. The placement manual. So this is their operating manual and replacement manual. I mentioned several times typical configurations, how to place the beacons on top for 3D mobile beacon. This simple 2D, what we discussed: two stationary beacons, one mobile beacon, one model. The more simple configuration, then more and more and more. Study, you know. We produce a lot of material, but if you don't study, you can't follow the best practice, and all the mistakes start from this. So downloads page, check the operating manual, check the placement manual.

48:04 And study the help videos. So this video is on YouTube, and there are many other videos helping in more detail how to set up, how to change their whatever channels, how to set up multiple submaps with multiple submaps, etcetera. So many, many, many helping videos. A simple task with more complex tasks, check it. If you're completely kind of stuck, so basically repeat, you know, disassemble, as I mentioned, and follow the step-by-step guide in the operating manual. Upload the software, press the default button, what I already mentioned. Press the cassette, erase the map if needed, and start from scratch. Reach the same level where you're successful, and then very carefully repeat the next step and see what's wrong. Uh, now let's finish with this. I hope that we are helping with this video because it's nothing new. Everything what I described in this.

49:08 Video is already described in the operating manual, in the placement manual, even in many videos. But we wanted to highlight one more time that following these steps is critical because it differs from the very simple setup to a very complex and time-consuming configuration. When you do everything right for basic 2D configuration, you can build in three, four minutes, but if you don't do it right, you may spend hours or days trying to understand what's wrong. So hopefully this video helps you to make it in minutes rather than in hours or days. Thank you very much.