Marvelmind Indoor Navigation System Operating manual v2020_05_21 www.marvelmind.
Table of contents 1. Executive summary.................................................................................................................................. 9 1.1 Legend ........................................................................................................................................... 11 2. Basics of the system .............................................................................................................................. 12 2.1 What’s in the box ........
6.7 CEILLING and MIRRORING buttons on the Dashboard ............................................................. 123 6.8 Detailed settings .......................................................................................................................... 124 6.9 Radio frequency band and Carrier frequency.............................................................................. 140 6.10 Different hedgehog colors in the Dashboard ..............................................................
9.11 Settings to obtain correct north direction ..................................................................................... 216 9.12 Communication of Pixhawk with Marvelmind mobile beacon ...................................................... 217 9.13 Sending path to robot .................................................................................................................. 218 9.14 Proper ultrasonic coverage ............................................................................
Version changes V2020_05_21 - Starting up Starter Set Super-MP-3D (IA) described Minor fixes and improvements V2020_05_13 - Reducing update rate latency chapter improved Minor fixes and improvements V2020_05_08 - Building big maps in Inverse Architecture (IA) chapter described Minor fixes and improvements V2020_04_24 - Dashboard Monitoring Mode described Super-modem described Super-Modem SW update described Minor fixes and improvements V2020_04_09 - Minor fixes and improvements V2020_04_07 -
- Industrial connectors pinouts improved Minor fixes and improvements V2019_10_31 - Industrial Super-Beacon Metal-25kHz described Starting up chapters for every starter set described Super-Beacon and Super-Beacon outdoor described Improved photos Reception diagrams for HW v4.
- New names for beacons: DSP => Mini-RX, Mini-beacon => Mini-TX, Beacon-TX-25-IMUIP67-RS485 => Industrial-TX, Beacon-RX-IMU-IP67-RS485 => Industrial-RX Starting up the system description for different Starter Sets V2019_02_05 - Licenses described Minor fixes and improvements V2019_01_29 - Mini-RX Inverse SW flashing described Added new types of beacons Minor fixes and improvements V2019_01_12 - Mini-RX beacon and Mini-TX described IMU axis described Minor fixes and improvements V2018_12_02 - - -
- Player feature described IMU feature described Minor fixes V2017_12_29 - SW features paragraph updates General updates Sending path to robot Radio frequency band switch in latest Dashboard version Sending path to robot Paired beacons feature described Submap feature help video Different hedgehog colors in the Dashboard FAQ updates V2017_11_01 - Added Sensors settings Added Dashboard features FAQ Fresh Dashboard screenshots General updates V2017_09_08 - 8 Added estimation of accuracy of distances m
1. Executive summary 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 can also be used to track moving objects via mobile beacons attached to them. Other applications include, for example, forklifts, virtual reality (VR) systems, helmets for construction workers or miners, etc.
Key capabilities: Parameter Technical Specifications - Reaches up to 50 meters in lab conditions (Mini-RX or Super-Beacon to HW v4.
1.1 Legend Legend chapter contains small icons and signs to highlight some key points of the text.
2. Basics of the system 2.1 What’s in the box 2.1.1 Starter Set Super-NIA-3D: - 5 x Super-beacons 1 x Modem/Router 2.1.2 Mini-RX Starter Set: - 4 x Mini-RX beacons 1 x Mobile beacon (HW v4.9) + IMU (aka “hedgehog”) 1 x Modem/Router *This is just an example of two starter sets.
2.2 Indoor Navigation System architectures Marvelmind Indoor Navigation System provides high-precision (±2cm) indoor coordinates for autonomous robots and systems (“indoor GPS”). A brief description of the key elements of the system is given on the scheme below.
Architecture comparison Non-Inverse Architecture (NIA) Typical use cases ‐ ‐ ‐ Not recommended Precision ‐ Location update ‐ rate ‐ ‐ ‐ Ultrasonic range ‐ ‐ Map building 14 ‐ Inverse Architecture (IA) 1-4 autonomous robots/drones. Supported up to 250 ‐ Many mobile users (people, robots, VR).
2.3 Indoor “GPS” System close-up and internal view Here, you can see how system elements look like 15 - Super-beacon - HW v4.
- - - 16 HW v4.
3. System elements 3.1 17 Stationary beacon - Usually, mounted on the walls or ceilings above the robot with ultrasonic sensors facing down—to provide the most robust unobstructed ultrasonic signal coverage to the robot.
3.2 - 18 Mobile beacon a.k.a. “hedgehog” - The mobile and stationary beacons can be easily interchanged by selecting in the Dashboard - The mobile beacons designed to be placed on a robotic vehicle, copter/drone, AGV, or helmet to trace its location. Formally speaking, location of the mobile beacon is traced—not the robot itself.
3.3 Super-Modem Super-Modem is a superior version of the Modem HW v4.9 with advanced capabilities: 19 Fig.1: Super-Modem - Super-modem supports all the basic features of HW v4.9 Modem and can be connected over USB to the Dashboard for system tuning and control (Do not forget to power SuperModem via Power connector) - UDP streaming over Wi-Fi is supported.
- Supports both IA and NIA. Can be easily switched between the modes in the Dashboard - Radio range to beacons – up to a few hundred meters in the open space area. Wi-Fi – a few tens of meters in the open space Fig.
Super-Modem’s SW update Marvelmind Super-Modem software consists of two parts: - Low level firmware High level software for integrated Raspberry Pi single-board computer Low level firmware is placed in general software package with all Marvelmind software in ‘Super-Modem’ folder. This firmware can be updated via dashboard (hex file) or via DFU (dfu file) like other firmware in the package. Please refer to Operating Manual for details of updating software via dashboard or dfu.
How to update SW: 22 - Open Super-Modem enclosure Eject the micro-SD card (Super-Modem should not be powered at this time) Insert micro-SD card into any MS Windows computer via card reader Download and unpack the archive with image of updated software - Install and run Win32 disk imager program (supplied in the archive with image) Open the image file and write to the micro-SD card (see screenshot below) - Eject micro-SD card from computer and insert back into Super-Modem Close Super-Modem enclosure
Super-Modem’s configuration Marvelmind Super-Modem contains Raspberry Pi single-board computer with corresponding software. Some settings can be modified via configuration files on the micro-SD card inserted in the Super-Modem.
Following settings are available: In file “network_options”: - wifi_network – name (SSID) of WiFi network to connect wifi_password – password (PSK) for this network In file “stream_options”: - 24 udp_destination_ip – IP address in local network where Super-Modem will stream data udp_destination_port – UDP port where Super-Modem will stream data
3.4 25 Modem - Modem is the central controller of the system. It must always be powered when the Navigation System is working. It is recommended to use an active USB hub for that purpose or even a regular cellular phone USB power supply.
3.5 Different types of beacons 3.4.1 Super-Beacon The Super-Beacon is a dual-use beacon – it can both receive and transmit ultrasonic pulses. The Super-Beacon Beacon can be used in both the Non-Inverse Architecture (NIA) and the Inverse Architecture (IA): Architecture comparison. Supports license-free 915MHz ISM band (US) and license-free SRD band 868MHz (EU). Support of the 433MHz ISM band (EU) comes with a larger order.
Figure 2 Transmitting diagram (with sensors) Figure 3 Transmitting diagram (with sensors) Figure 4 Receiving diagram (with digital microphone) Figure 5 Receiving diagram (with digital microphone)
3.4.1.1. External microphone extension This modification of the Super-Beacon allows you to bring the receiving microphone to any place on the robot or clothing. Due to this, the microphone body itself will not interfere, and will not be visible. It allows you to create more accurate implantation. It is also possible to use 2 external microphones to calculate the direction, or to improve and increase the reception area.
External microphones schemes: There can be some beacons (from one of the batches) with mixed default microphone wires’ colors Figure 4 Connection for beacon with switched blue and yellow wires Figure 5 One external microphone connection 29
Figure 6 Two external microphone connection 30
3.4.2 Mini-RX beacon The Mini-RX Beacon can be used in both the Non-Inverse Architecture (NIA) and in the Inverse Architecture (IA): NIA and IA comparison The Mini-RX beacon HW differs from the regular Beacon HW v4.9 in several ways: - It is an RX-only beacon, i.e. it can receive, but it cannot transmit ultrasonic signal - The fact that it is RX-only makes it far more sensitive, i.e. you will get a longer range between Beacon HW v4.9 and Mini-RX v5.xx than between Beacon HW v4.9 and Beacon HW v4.
3.4.2.1. External microphone extension This modification of the Mini-RX beacon allows you to bring the receiving microphone to any place on the robot or clothing. Due to this, the microphone body itself will not interfere, and will not be visible. It allows you to create more accurate implantation. It is also possible to use 2 external microphones to calculate the direction, or to improve and increase the reception area.
Figure 7 One external microphone with housing Figure 8 Two external microphones with housing Figure 9 One external microphone soldering Figure 10 Two external microphones soldering 33
External microphones schemes: Figure 11 One external microphone connection Figure 12 Two external microphones connection 34
Figure 13 Two external microphones final view Figure 14 Two external microphones final view 35
3.4.3 Mini-TX beacon The Mini-TX is a TX only beacon, i.e. it can transmit, but cannot receive ultrasound Comparison to Beacon HW v4.9: 36 - Smaller size and lighter: 47x42x15mm & 25g 55x55x33mm & 62g (or 55x55x64mm with antenna) - TX only, i.e. Mini-TX can only transmit ultrasonic and cannot receive. Beacon HW v4.9 is dual use: can receive and transmit ultrasonic - Battery – 250mAh vs. 1000mAh in a regular beacon.
3.4.
Uploading Beacon’s Industrial-RX or Beacon’s Industrial-TX SW to Industrial Super-beacon may permanently damage Industrial Super-Beacon board. Determine carefully the version of your Industrial beacons: it may be built before September 2019 and after September 2019. If it is beacon from the late batch, you must use Industrial Super-beacon SW. if you have beacons from the early batch, use Industrial-RX or Industrial-TX SW. Stickers’ differences: Later batch – Ind-RX-S or Ind-TX-S.
3.4.5 Beacon Industrial-RX - RX-only beacon – can receive ultrasonic, but can’t transmit it - Electronics is IP67 protected - Special IP67-membrane for ultrasonic sensor - External antenna with SMA connector for extended radio range - Corresponding IP67 connectors (male part) included - No battery inside by default – external power bank or external power supply (+12V 0r +5V).
Uploading Beacon’s Industrial-RX or Beacon’s Industrial-TX SW to Industrial Super-beacon may permanently damage Industrial Super-beacon board. Determine carefully the version of your Industrial beacons: it may be built before September 2019 and after September 2019. If it is beacon from the late batch, you must use Industrial Super-beacon SW. if you have beacons from the early batch, use Industrial-RX or Industrial-TX SW. Stickers’ differences: Later batch – Ind-RX-S or Ind-TX-S.
3.4.6 Industrial Super-Beacon Metal-25kHz - Supports dual-use – RX and TX beacon. It can transmit on its native ultrasonic frequency (25kHz) and it can receive on any ultrasonic frequency via an embedded RX sensor – like Industrial-RX or Mini-RX does. Effectively, the Industrial SuperBeacons beacons combines inside an Industrial-TX and Industrial-RX. Additionally, the beacon supports both AI and NIA architectures.
3.4.7 HW v4.9 beacon HW v4.9 beacon can be used in both the Non-Inverse Architecture (NIA) and in the Inverse Architecture (IA): NIA and IA comparison Reception diagram.
3.6 Beacon comparison Here you can see more details about the different types of beacons: https://marvelmind.com/pics/marvelmind_beacons_comparison.
4. Setting up the system (NIA) 4.1 Starter Set Super-NIA-3D The steps below describe the very first time you set up of the system. Super-beacons and modem required. 4.1.5 Unpack the system. Look at a similar unpacking video of HW v4.9. The videos have certain differences but the basic are the same: https://youtu.be/sOce7B2_6Sk 4.1.6 Charge all the beacons using USB cable. Full charging takes about 1-2 hours 4.1.7 Turn the beacons on: Place DIP switches as shown on the picture below 4.1.
‒ If you see the message “Not found modem connection to computer through USB” in the Dashboard or your PC does not recognize beacons/modem, it usually means that the STM32 driver is not installed.
- - 46 Choose the DFU driver (file) for the beacon - Click the UPGRADE button - After a couple of seconds, the DFU will be uploaded to the beacon. Make sure it takes 1–3 seconds and does not happen instantly. Otherwise, the SW has not been uploaded correctly.
- - Modem will go to DFU mode. Press UPGRADE button in the DfuSe program - After a couple of seconds, the DFU will be uploaded to the modem. Make sure it takes 1-3 seconds and does not happen immediately. Otherwise, the SW has not been uploaded correctly.
4.1.11 Write down the beacon’s address for future use or change the address at your convenience as shown here 4.1.12 Press the RESET button on your beacons and modem after programming 4.1.13 After programming devices with the latest software, the modem and beacons are ready for use 4.1.14 Place the stationary beacons high on the walls vertically in a way that will provide optimal ultrasonic coverage. Write down the beacon’s height for future change in the settings.
4.1.18 It may take up to 7-10 seconds for the beacons to wake up 4.1.19 Notice, that if the modem is not active and is not powered, the beacons will go into sleep mode automatically after 1 minute 4.1.20 The system may run the frequency search, if it is the very first time you are waking up the beacons. If this step does not work, disconnect the modem and connect that beacon again via USB.
4.1.10 If the map does not form well, check the table of distances in the left corner of the Dashboard. The cells must be colored in white; it means the distances between stationary beacons are measured correctly 4.1.11 If you see in the table some empty cells or marked yellow/red, it is an indication that distances between Some beacons are measured inconsistently or not measured at all. Try to re-position them because usually there is an obstruction of some sort in the between the beacons.
4.1.18 In the dashboard, you can upload a picture / map of your room. You can use a different picture for every floor. Go to Loading the floorplan (Help video: https://www.youtube.
4.2 Starter Set HW v4.9 The steps below describe the very first time you set up of the system. Beacons HW v4.9 and modem required. 4.2.1 Unpack the system. https://youtu.be/sOce7B2_6Sk Watch the help video: 4.2.2 Charge all the beacons using USB cable. Full charging takes about 1-2 hours 4.2.3 Turn the beacons on: Place DIP switches as shown on the picture below 4.2.4 Download SW Pack 4.2.
If SW flashed SUCESSUFLY, MOVE DIRECTLY TO 4.2.6. If you have some problems with HEX programming, use DFU programming: DFU programming or SW uploading is used when HEX SW uploading in the Dashboard cannot be used.
- - 54 Choose the DFU driver (file) for the beacon - Click the UPGRADE button - After a couple of seconds, the DFU will be uploaded to the beacon. Make sure it takes 1–3 seconds and does not happen instantly. Otherwise, the SW has not been uploaded correctly.
- - Modem will go to DFU mode. Press UPGRADE button in the DfuSe program - After a couple of seconds, the DFU will be uploaded to the modem. Make sure it takes 1-3 seconds and does not happen immediately. Otherwise, the SW has not been uploaded correctly.
4.2.7 Write down the beacon’s address for future use or change the address at your convenience as shown here 4.2.8 Press the RESET button on your beacons and modem after programming 4.2.9 After programming devices with the latest software, the modem and beacons are ready for use 4.2.10 Place the stationary beacons high on the walls vertically in a way that will provide optimal ultrasonic coverage. Write down the beacon’s height for future change in the settings.
4.2.14 It may take up to 7-10 seconds for the beacons to wake up 4.2.15 Notice, that if the modem is not active and is not powered, the beacons will go into sleep mode automatically after 1 minute 4.2.16 The system may run the frequency search, if it is the very first time you are waking up the beacons. If this step does not work, disconnect the modem and connect that beacon again via USB.
4.2.24 If the map does not form well, check the table of distances in the left corner of the Dashboard. The cells must be colored in white; it means the distances between stationary beacons are measured correctly 4.2.25 If you see in the table some empty cells or marked yellow/red, it is an indication that distances between Some beacons are measured inconsistently or not measured at all. Try to re-position them because usually there is an obstruction of some sort in the between the beacons.
4.2.32 In the Dashboard, you can upload a picture/map of your room. You can use a different picture for every floor. Go to Loading the floorplan (Help video: https://www.youtube.
4.3 Starter Set NIA-01-3D The steps below describe the very first time you set up the system. Mini-RX, HW v4.9 beacons and modem required. Mini-RX has different HW and SW from HW v4.9. Use Mini-RX SW for Mini-RX beacons, HW v4.9’s SW for HW v4.9 4.3.1 Unpack the system. Look at a similar unpacking video of HW v4.9. The videos have certain differences but the basic are the same: https://youtu.be/sOce7B2_6Sk 4.3.2 Charge all the beacons using USB cable. Full charging takes about 1-2 hours 4.3.
b. You are using SW for 4.9, if you have HW v4.9; and you have the SW from the same SW pack, i.e., the Dashboard SW, modem SW, and beacon SW must be from the same SW pack. Don’t mix SW releases If SW flashed SUCESSUFLY, MOVE DIRECTLY TO 4.3.6. If you have some problems with HEX programming, use DFU programming: DFU programming or SW uploading is used when HEX SW uploading in the Dashboard cannot be used.
- - 62 Choose the DFU driver (file) for the beacon - Click the UPGRADE button - After a couple of seconds, the DFU will be uploaded to the beacon. Make sure it takes 1–3 seconds and does not happen instantly. Otherwise, the SW has not been uploaded correctly.
- Modem will go to DFU mode. Press UPGRADE button in the DfuSe program - After a couple of seconds, the DFU will be uploaded to the modem. Make sure it takes 1-3 seconds and does not happen instantly. Otherwise, the SW has not been uploaded correctly.
4.3.8 Press the RESET button on your beacons and modem after programming 4.3.9 After programming devices with the latest software, the modem and beacons are ready for use 4.3.10 Place the stationary beacons high on the walls vertically in a way that will provide optimal ultrasonic coverage. Write down the beacon’s height for future change in the settings. The help video on installation can be found here - https://youtu.be/WY0HkLzmjys 4.3.
4.3.16 The system may run the frequency search, if it is the very first time you are waking up the beacons. If this step does not work, disconnect the modem and connect that beacon again via USB. Press the DEFAULT button in the Dashboard and the Read All button to make sure that the radio settings are the default ones 4.3.17 Check that the radio settings on the modem and the radio settings on the beacon are the same 4.3.18 Now you can check RSSI, voltage, ultrasonic filter settings, etc.
control the table of distances. Choose Enter distance for pair to enter the value Step 3. Now, enter measured (measure it with laser distance meter or so) value. That values would not change until you unfreeze or clear it. Even if beacons had been moved, distance would stay. Be careful with frozen cells because a small mistake can cause a significant impact on your tracking Step 4. Repeat for all cells 4.3.24 Make a service zone, clicking on the map with Shift+Left Mouse Button.
or some ultrasonic or radio settings may be different. You can change the settings for sensors manually by clicking on the panel on the upper right corner of the Dashboard to change the cells from gray to green to turn on sensor. It is recommended that the default settings on all beacons and the modem be used if this is your first time using the system. 4.3.28 After you freeze the map of stationary beacons, wake up the mobile beacon. After it wakes up, it will be traceable in 5-7 seconds. 4.3.
4.4 Starter Set NIA-SmallDrone The steps below describe the very first time you set up the system. Mini-RX, MiniTX beacons and modem required. Mini-RX and Mini-TX have different HW and SW from HW v4.9. Use Mini-RX SW for Mini-RX beacons, Mini-TX SW for Mini-TX beacons, HW v4.9’s SW for HW v4.9 4.4.1 Unpack the system. Take a look at a similar unpacking video of HW v4.9. The videos have certain differences but the basic are the same: https://youtu.be/sOce7B2_6Sk 4.4.
Program ‒ If you see the message “Not found modem connection to computer through USB” in the Dashboard or your PC does not recognize beacons/modem, it usually means that the STM32 driver is not installed. To install the driver, download it through the link in the top window in the Dashboard and run the installation file, then click on the link under and install the driver Make sure that that: c. You are programming the modem’s SW to the modem and the beacon’s SW to the beacon d.
- Put DIP switch into Power = ON, DFU = ON (DIP switch in Mini-RX and Mini-TX situated inside the body. To switch it, carefully disassemble the body) - Connect the beacon via USB to your PC - Run DfuSe - Press the RESET button on your beacon - In the upper left corner of the DfuSe program, you will see a device connected in the DFU mode Choose the DFU driver (file) for the beacon - - - Click the UPGRADE button - After a couple of seconds, the DFU will be uploaded to the beacon.
- After uploading DFU driver by DfuSe short circuit pins as shown on the picture (for v4.9) and press Reset button - Modem will go to DFU mode. Press UPGRADE button in the DfuSe program - After a couple of seconds, the DFU will be uploaded to the modem. Make sure it takes 1-3 seconds and does not happen instantly. Otherwise, the SW has not been uploaded correctly.
4.4.7 Write down the beacon’s address for future use or change the address at your convenience as shown here 4.4.8 Press the RESET button on your beacons and modem after programming 4.4.9 After programming devices with the latest software, the modem and beacons are ready for use 4.4.10 Place the stationary beacons high on the walls vertically in a way that will provide optimal ultrasonic coverage. Write down the beacon’s height for future change in the settings.
4.4.15 Notice, that if the modem is not active and is not powered, the beacons will go into sleep mode automatically after 1 minute 4.4.16 The system may run the frequency search, if it is the very first time you are waking up the beacons. If this step does not work, disconnect the modem and connect that beacon again via USB. Press the DEFAULT button in the Dashboard and the Read All button to make sure that the radio settings are the default ones 4.4.
Step 5. Open the Dashboard. You will see the table of distances Step 6. Use right mouse click on cell you want to enter the distance. Additional menu will open. There you can control the table of distances. Choose Enter distance for pair to enter the value Step 7. Now, enter measured (measure it with laser distance meter or so) value. That values would not change until you unfreeze or clear it. Even if beacons had been moved, distance would stay.
settings between beacons. For example, some sensors may be off or some ultrasonic or radio settings may be different. You can change the settings for sensors manually by clicking on the panel on the upper right corner of the Dashboard to change the cells from gray to green to turn on sensor. It is recommended that the default settings on all beacons and the modem be used if this is your first time using the system. 4.4.27 After you freeze the map of stationary beacons, wake up the mobile beacon.
4.5 Starter Set NIA-02-2D The steps below describe the very first time you set up the system. Mini-RX, MiniTX beacons and modem required. Mini-RX and Mini-TX have different HW and SW from HW v4.9. Use Mini-RX SW for Mini-RX beacons, Mini-TX SW for Mini-TX beacons, HW v4.9’s SW for HW v4.9 4.5.1 Unpack the system. Take a look at a similar unpacking video of HW v4.9. The videos have certain differences but the basic are the same: https://youtu.be/sOce7B2_6Sk 4.5.2 Charge all the beacons using USB cable.
Program ‒ If you see the message “Not found modem connection to computer through USB” in the Dashboard or your PC does not recognize beacons/modem, it usually means that the STM32 driver is not installed. To install the driver, download it through the link in the top window in the Dashboard and run the installation file, then click on the link under and install the driver Make sure that that: e. You are programming the modem’s SW to the modem and the beacon’s SW to the beacon f.
- Put DIP switch into Power = ON, DFU = ON (DIP switch in Mini-RX and Mini-TX situated inside the body. To switch it, carefully disassemble the body) - Connect the beacon via USB to your PC - Run DfuSe - Press the RESET button on your beacon - In the upper left corner of the DfuSe program, you will see a device connected in the DFU mode Choose the DFU driver (file) for the beacon - - - Click the UPGRADE button - After a couple of seconds, the DFU will be uploaded to the beacon.
- After uploading DFU driver by DfuSe short circuit pins as shown on the picture (for v4.9) and press Reset button - Modem will go to DFU mode. Press UPGRADE button in the DfuSe program - After a couple of seconds, the DFU will be uploaded to the modem. Make sure it takes 1-3 seconds and does not happen instantly. Otherwise, the SW has not been uploaded correctly.
4.5.7 Write down the beacon’s address for future use or change the address at your convenience as shown here 4.5.8 Press the RESET button on your beacons and modem after programming 4.5.9 After programming devices with the latest software, the modem and beacons are ready for use 4.5.10 Place the stationary beacons high on the walls vertically in a way that will provide optimal ultrasonic coverage. Write down the beacon’s height for future change in the settings.
4.5.15 Notice, that if the modem is not active and is not powered, the beacons will go into sleep mode automatically after 1 minute 4.5.16 The system may run the frequency search, if it is the very first time you are waking up the beacons. If this step does not work, disconnect the modem and connect that beacon again via USB. Press the DEFAULT button in the Dashboard and the Read All button to make sure that the radio settings are the default ones 4.5.
Step 9. Open the Dashboard. You will see the table of distances Step 10. Use right mouse click on cell you want to enter the distance. Additional menu will open. There you can control the table of distances. Choose Enter distance for pair to enter the value Step 11. Now, enter measured (measure it with laser distance meter or so) value. That values would not change until you unfreeze or clear it. Even if beacons had been moved, distance would stay.
settings between beacons. For example, some sensors may be off or some ultrasonic or radio settings may be different. You can change the settings for sensors manually by clicking on the panel on the upper right corner of the Dashboard to change the cells from gray to green to turn on sensor. It is recommended that the default settings on all beacons and the modem be used if this is your first time using the system. 4.5.27 After you freeze the map of stationary beacons, wake up the mobile beacon.
4.6 Starter Set Industrial-NIA-01 The steps below describe the first set up of the system. This is a Non-Inverse Architecture. You can find the description and comparison of architectures here. Pay attention: Industrial beacons have different HW and SW from HW v4.9. It has different connectors, reset and DFU activation. Read more on Industrial beacon page. Industrial beacons have no battery, use power supply cable. Use Industrial beacon’s SW for Industrial beacons, v4.9 for v4.9. 84 4.6.
at top window in the Dashboard and run the installation file, then click on the link under and install the driver Ensure that: (e) You are programming the modem’s SW to the modem and the beacon’s SW to the beacon (f) You are using SW for 4.9, if you have HW v4.9; and you have the SW from the same SW pack, i.e., the Dashboard SW, modem SW, and beacon SW must be from the same SW pack. Don’t mix SW releases If SW flashed SUCESSUFLY, MOVE DIRECTLY TO 4.6.6.
Step 2: Reset Magnet examples - Connect the beacon via USB to your PC - Connect power supply cable to your beacon - Run DfuSe - In the upper left corner of the DfuSe program, you will see a device connected in the DFU mode Choose the DFU driver (file) for the beacon - 86 - Click the UPGRADE button - After a couple of seconds, the DFU will be uploaded to the beacon. Make sure it takes 1–3 seconds and does not happen instantly. Otherwise, the SW has not been uploaded correctly.
immediately, check the "Choose" button you used or change the version of DfuSe SW you selected - Start the Dashboard - Reset the beacon again - Check SW on the beacon afterwards - Everything should be OK with SW now. DFU programming is complete. DFU Programming for the modem: - Here is the link for the modem DFU programming. The steps are similar to those for beacon DFU programming. - After uploading DFU driver by DfuSe short circuit pins as shown on the picture (for v4.
settings 4.6.7 Write down the beacon’s address for future use or change the address at your convenience as shown here 4.6.8 Press the RESET (Industrial beacons have magnetic re button on your beacons and modem after programming 4.6.9 After programming devices with the latest software, the modem and beacons are ready for use 4.6.10 Place the stationary beacons high on the walls vertically in a way that will provide optimal ultrasonic coverage.
4.6.11 Connect the modem/router via USB to a Windows PC with the Dashboard installed 4.6.12 Run the Dashboard. In the left corner of the Dashboard, the modem should be shown as connected 4.6.13 Wake up all beacons by clicking on the buttons in the Dashboard on the panel 4.6.14 It may take up to 7-10 seconds for the beacons to wake up 4.6.15 Notice, that if the modem is not active and is not powered, the beacons will go into sleep mode automatically after 1 minute 4.6.
4.6.21 In the current version one modem supports 250 beacons (mobile + stationary combined). If you do not see some of your connected beacons on the map, you may need to scroll to find their addresses 4.6.22 Double click on the device to put it into sleep mode or wake it up Only 4 stationary beacons may be in 1 submap. If you wake up more beacons, create new submap for them. Or it won’t be displayed on the map and in the table of distances 4.6.
from the mobile beacon(s) 4.6.25 Turn on and wake up the mobile beacon following the same steps as with the stationary beacon: https://youtu.be/A4aRsjH2-_E 4.6.26 If you see on the devices’ panel in the Dashboard that the beacon is colored orange, it means there are some differences in some of the settings between beacons. For example, some sensors may be off or some ultrasonic or radio settings may be different.
5. Setting up the system (IA) 5.1 Starter Set Super-MP-3D The steps below describe the very first time you set up of the system. Super-Beacons with different ultrasonic frequencies and modem required. This is Inverse Architecture. Super-Beacons frequencies. Use IA Software ONLY. should have different You can’t just switch Super-Beacon to another frequency, it is HW depended Ultrasonic can't be changed to default. You must check the frequency on the white sticker 5.1.1 Unpack the system.
‒ Run the Dashboard and update the SW for all beacons and modem using Dashboard => Firmware => Choose the file => Program ‒ If you see the message “Not found modem connection to computer through USB” in the Dashboard or your PC does not recognize beacons/modem, it usually means that the STM32 driver is not installed.
- Put DIP switch into Power = ON, DFU = ON - Connect the beacon via USB to your PC. - Run DfuSe. - Press the RESET button on your beacon. - In the upper left corner of the DfuSe program, you will see a device connected in the DFU mode. Choose the DFU driver (file) for the beacon. - - Click the UPGRADE button - After a couple of seconds, the DFU will be uploaded to the beacon. Make sure it takes 1–3 seconds and does not happen instantly. Otherwise, the SW has not been uploaded correctly.
- After uploading DFU driver by DfuSe short circuit pins as shown on the picture (for v4.9) and press Reset button - Modem will go to DFU mode. Press UPGRADE button in the DfuSe program - After a couple of seconds, the DFU will be uploaded to the modem. Make sure it takes 1-3 seconds and does not happen immediately. Otherwise, the SW has not uploaded correctly. If the DFU appears to upload immediately, check the "Choose" button you used or change the version of DfuSe SW to a different one.
5.1.7 Write down the beacon’s address for future use or change the address at your convenience as shown here 5.1.8 Press the RESET button on your beacons and modem after programming. 5.1.9 After programming devices with the latest software, the modem and beacons are ready for use. 5.1.10 Place the stationary beacons high on the walls vertically in a way that will provide optimal ultrasonic coverage. Write down the beacon’s height for future change in the settings.
5.1.15 Notice, that if the modem is not active and is not powered, the beacons will go into sleep mode automatically after 1 minute 5.1.16 The system may run the frequency search, if it is the very first time you are waking up the beacons. If this step does not work, disconnect the modem and connect that beacon again via USB. Press the DEFAULT button in the Dashboard and the Read All button to make sure that the radio settings are the default ones 5.1.
5.1.24 If the map does not form well, check the table of distances in the left corner of the Dashboard. The cells must be colored in white; it means the distances between stationary beacons are measured correctly 5.1.25 If you see in the table some empty cells or marked yellow/red, it is an indication that distances between Some beacons are measured inconsistently or not measured at all. Try to re-position them because usually there is an obstruction of some sort in the between the beacons.
5.1.31 The system is now fully operational.
5.2 Starter Set IA-01-2D The steps below describe the very first time you set up of the system. Mini-RXbeacon, HW v4.9 beacons and modem required. This is Inverse Architecture. Beacons HW v4.9 should have different frequencies. Use IA Software ONLY. You can’t just switch HW v4.9 beacon to another frequency, it is HW depended Ultrasonic can't be changed to default. You must check the frequency on the white sticker 5.2.1 Unpack the system. Take a look at the similar unpacking video of HW v4.9.
‒ Run the Dashboard and update the SW for all beacons and modem using Dashboard => Firmware => Choose the file => Program ‒ If you see the message “Not found modem connection to computer through USB” in the Dashboard or your PC does not recognize beacons/modem, it usually means that the STM32 driver is not installed.
- Put DIP switch into Power = ON, DFU = ON (DIP switch in Mini-RX and situated inside the body. To switch it, carefully disassemble the body). - Connect the beacon via USB to your PC. - Run DfuSe. - Press the RESET button on your beacon. - In the upper left corner of the DfuSe program, you will see a device connected in the DFU mode. Choose the DFU driver (file) for the beacon. - - Click the UPGRADE button - After a couple of seconds, the DFU will be uploaded to the beacon.
- After uploading DFU driver by DfuSe short circuit pins as shown on the picture (for v4.9) and press Reset button - Modem will go to DFU mode. Press UPGRADE button in the DfuSe program - After a couple of seconds, the DFU will be uploaded to the modem. Make sure it takes 1-3 seconds and does not happen immediately. Otherwise, the SW has not uploaded correctly. If the DFU appears to upload immediately, check the "Choose" button you used or change the version of DfuSe SW to a different one.
5.2.7 Write down the beacon’s address for future use or change the address at your convenience as shown here 5.2.8 Press the RESET button on your beacons and modem after programming. 5.2.9 After programming devices with the latest software, the modem and beacons are ready for use. 5.2.10 Place the stationary beacons high on the walls vertically in a way that will provide optimal ultrasonic coverage. Write down the beacon’s height for future change in the settings.
5.2.15 Notice, that if the modem is not active and is not powered, the beacons will go into sleep mode automatically after 1 minute 5.2.16 The system may run the frequency search, if it is the very first time you are waking up the beacons. If this step does not work, disconnect the modem and connect that beacon again via USB. Press the DEFAULT button in the Dashboard and the Read All button to make sure that the radio settings are the default ones 5.2.
Step 2. Use right mouse click on cell you want to enter the distance. Additional menu will open. There you can control the table of distances. Choose Enter distance for pair to enter the value. Step 3. Now, enter measured (measure it with laser distance meter or so) value. That values would not change until you unfreeze or clear it. Even if beacons had been moved, distance would stay. Be careful with frozen cells because a small mistake can cause a huge impact on your tracking. Step 4.
some ultrasonic or radio settings may be different. You can change the settings for sensors manually by clicking on the panel on the upper right corner of the Dashboard to change the cells from gray to green to turn on sensor. It is recommended that the default settings on all beacons and the modem be used if this is your first time using the system. 5.2.26 After you freeze the map of stationary beacons, wake up the mobile beacon. After it wakes up, it will be traceable in 5-7 seconds. 5.2.
5.3 Starter Set IA-02-3D The steps below describe the very first time you set up of the system. Mini-RXbeacon, HW v4.9 beacons and modem required. This is Inverse Architecture. Beacons HW v4.9 should have different frequencies. Use IA Software ONLY. You can’t just switch HW v4.9 beacon to another frequency, it is HW depended Ultrasonic can't be changed to default. You must check the frequency on the white sticker 5.3.1 Unpack the system. Take a look at the similar unpacking video of HW v4.9.
‒ Run the Dashboard and update the SW for all beacons and modem using Dashboard => Firmware => Choose the file => Program ‒ If you see the message “Not found modem connection to computer through USB” in the Dashboard or your PC does not recognize beacons/modem, it usually means that the STM32 driver is not installed.
- Put DIP switch into Power = ON, DFU = ON (DIP switch in Mini-RX and situated inside the body. To switch it, carefully disassemble the body). - Connect the beacon via USB to your PC. - Run DfuSe. - Press the RESET button on your beacon. - In the upper left corner of the DfuSe program, you will see a device connected in the DFU mode. Choose the DFU driver (file) for the beacon. - - Click the UPGRADE button - After a couple of seconds, the DFU will be uploaded to the beacon.
- After uploading DFU driver by DfuSe short circuit pins as shown on the picture (for v4.9) and press Reset button - Modem will go to DFU mode. Press UPGRADE button in the DfuSe program - After a couple of seconds, the DFU will be uploaded to the modem. Make sure it takes 1-3 seconds and does not happen immediately. Otherwise, the SW has not uploaded correctly. If the DFU appears to upload immediately, check the "Choose" button you used or change the version of DfuSe SW to a different one.
5.3.7 Write down the beacon’s address for future use or change the address at your convenience as shown here 5.3.8 Press the RESET button on your beacons and modem after programming. 5.3.9 After programming devices with the latest software, the modem and beacons are ready for use. 5.3.10 Place the stationary beacons high on the walls vertically in a way that will provide optimal ultrasonic coverage. Write down the beacon’s height for future change in the settings.
5.3.15 Notice, that if the modem is not active and is not powered, the beacons will go into sleep mode automatically after 1 minute 5.3.16 The system may run the frequency search, if it is the very first time you are waking up the beacons. If this step does not work, disconnect the modem and connect that beacon again via USB. Press the DEFAULT button in the Dashboard and the Read All button to make sure that the radio settings are the default ones 5.3.
Step 6. Use right mouse click on cell you want to enter the distance. Additional menu will open. There you can control the table of distances. Choose Enter distance for pair to enter the value. Step 7. Now, enter measured (measure it with laser distance meter or so) value. That values would not change until you unfreeze or clear it. Even if beacons had been moved, distance would stay. Be careful with frozen cells because a small mistake can cause a huge impact on your tracking. Step 8.
some ultrasonic or radio settings may be different. You can change the settings for sensors manually by clicking on the panel on the upper right corner of the Dashboard to change the cells from gray to green to turn on sensor. It is recommended that the default settings on all beacons and the modem be used if this is your first time using the system. 5.3.26 After you freeze the map of stationary beacons, wake up the mobile beacon. After it wakes up, it will be traceable in 5-7 seconds. 5.3.
6. Dashboard menu and parameters 6.
6.2 Table of distances Table of distances shows the measured distance between all beacons. The map and its graphical visualization depend on distances, which is a very important part of the system.
Step 3. Now, cells are frozen. That values would not change until you unfreeze it. Even if beacons had been moved, distance would stay. Be careful with frozen cells because a small mistake can cause a huge impact on your tracking Step 4. Repeat for all cells - White means that everything is good, you can freeze the map - Yellow means that something seems to be wrong, check distances and sensors before freezing - Red means some critical misses, DO NOT freeze the map.
6.3 Devices list Devices list contains information about all the beacons in the system. It also allows to search, add and delete it.
6.
6.5 Map Settings Map Settings offer some helpful tools: 121 - Save map – saves map as .ini file into Dashboard folder/maps - Load map – loads map from .
6.6 Modem/beacon’s quick control panel Control panel allows user to interact with devices. It can work with one device, or with all devices in the system.
6.
6.8 Detailed settings This bar allows user to adjust devices very precisely. It contains a lot of parameters for advanced usage Modem Settings Unique processor ID for each device (beacon or modem) Location update rate settings: 1/20Hz – 16Hz+. Notice that real update rate may be limited by distances between beacons or radio profile TBD Internal filter. More – faster objects can be tracked. Less – better filtering against location jumps Set of power saving features.
TBD Power supply voltage of the device 5V+-0.2V is OK N/A Time from the latest reset Measured temperature of the processor’s crystal Strength of the radio signal from modem to beacons and vice versa. Maintain in the range of -25dBm to -80..90dBm. Higher value - may overload. Lower – lost packets Chosen working band Exact working frequency Logical address of the device. Keep 2..255 for beacons.
Advanced settings TBD Enabling will allow direction along with location: TBD TBD TBD 126
Parameters of radio Real carrier frequency Selected radio profile with a set of profile settings. Choose between 38kbps (better range and interference immunity, but slower); 153kbps – balanced; and 500kbps – the fastest, but the lowest radio range and least immune to interference Logical address of the device. Distinguish of beacon from another One of a predefined radio frequency channels Modulation – a part of the radio profile.
Radio profile settings. No need to change manually. Only for advanced users Radio profile settings. No need to change manually. Only for advanced users Radio profile settings. No need to change manually. Only for advanced users Radio profile settings. No need to change manually. Only for advanced users Radio profile settings. No need to change manually. Only for advanced users Radio profile settings. No need to change manually. Only for advanced users Radio profile settings.
Beacon’s settings Unique CPU ID Enable for mobile beacon and disable for stationary beacon TBD TBD Measured voltage of internal battery NA Height – must be set for stationary beacons.
Processor’s crystal’s temperature Strength of the radio signal from this beacon to the modem, i.e. how the modem “hears” the beacon over radio. Keep below -25dBm and above -80..90dBm to avoid losses of packets.
IMU Calibration settings of embedded IMU: X shift Calibration settings of embedded IMU: Y shift Calibration settings of embedded IMU: Z shift Calibration settings of embedded IMU: X scale Calibration settings of embedded IMU: Y scale Calibration settings of embedded IMU: Z scale 131
Parameters of radio Real carrier frequency Radio profile that is linked with many radio settings below. Helps to set them at once by choosing the profile. See similar in modem for more info Device address – shall be set for each beacon different under one modem One of the pre-selected frequency channels Radio profile settings. No need to change manually. Only for advanced users Radio profile settings. No need to change manually. Only for advanced users Radio profile settings.
Radio profile settings. No need to change manually. Only for advanced users Radio profile settings. No need to change manually. Only for advanced users Radio profile settings. No need to change manually. Only for advanced users Radio profile settings. No need to change manually. Only for advanced users Radio profile settings. No need to change manually. Only for advanced users Radio profile settings. No need to change manually. Only for advanced users Radio profile settings.
Ultrasound TX-RX – regular mode. Use it. The rest - internal TBD Power saving features. If not sure, keep default Power saving features. If not sure, keep default TBD Frequency of ultrasonic pulses – set according to your HW 50% - default. 1% … 99% lower strength of ultrasonic. Keep default Number of ultrasonic pulses the TX beacon emits. More – stronger, but longer echo. For small distances – 1-10 periods. 20-30 – for 10-20 meters.
TBD AGC settings. For advanced users only AGC settings. For advanced users only AGC settings. For advanced users only AGC settings. For advanced users only Deep ultrasonic trigger settings. For special cases only Deep ultrasonic trigger settings. For special cases only Keep ADC Deep ultrasonic trigger settings. For special cases only Deep ultrasonic trigger settings.
Deep ultrasonic trigger settings. For special cases only Deep ultrasonic trigger settings. For special cases only Deep ultrasonic trigger settings. For special cases only Deep ultrasonic trigger settings. For special cases only Deep ultrasonic trigger settings.
Deep AGC settings. For special cases only Deep AGC settings. For special cases only Deep AGC settings. For special cases only Deep AGC settings.
Enable/disable sensor RX3 in map building mode Enable/disable sensor RX4 in map building mode Enable/disable sensor RX5 in map building mode Enable/disable sensor RX1 in map frozen/regular work mode Enable/disable sensor RX2 in map frozen/regular work mode Enable/disable sensor RX3 in map frozen/regular work mode Enable/disable sensor RX4 in map frozen/regular work mode Enable/disable sensor RX5 in map frozen/regular work mode TBD TBD TBD 138
Interfaces Speed of UART in hedgehog mode Type of protocol TBD Enable or disable receiving raw IMU data with IMU update rate (100Hz) Enable or disable receiving IMU+ultrasonic sensor fusion data with IMU update rate (100Hz) Georeferencing The same as with modem The same as with modem Misc. settings Timeout sleep settings Hedgehogs pairing Enable for Paired Beacons feature: https://youtu.
6.9 Radio frequency band and Carrier frequency - For devices with HW 433 MHz allowable Radio bands 315 and 433, - For devices with HW 915 MHz allowable Radio bands 868 and 915, but when using antennas at 433 MHz it is possible to use both 315 and 433 MHz *Mini-RX beacons and Super-Beacons are 868/915MHz only. It is possible to change the frequency of radio, but radio performance can be severely degraded. It may be enough for smaller distances, up to 10-20 meters, but not more.
6.
6.11 Different stationary beacons’ colors in the Dashboard Stationary beacons v4.9 can have different ultrasonic frequency.
7. SW feature/settings descriptions 7.1 Licenses We added the licenses system. Now, you can order some additional features. It is not available in the basic Dashboard version, but you can easily purchase it if necessary. You can see the list on Marvelmind.com -> Products To order: - Go to Marvelmind.com -> Products Choose features which you want to get (e.g. MMSW0001: 100Hz NMEA0183) - Make an order. Pay for the feature (via PayPal or other methods).
- Dashboard will generate a text - Send generated text to info@marvelmind.com - We will generate the license key and send to you via email Place the license key into Dashboard/Licenses folder: - Connect modem to the Dashboard via USB - Go to Licenses → View/activate licenses - Choose "Open license key" - Choose the license file (be careful if you have licenses for multiple devices, check CPU ID carefully) - The features become activated in the Dashboard.
7.2 Dashboard Monitoring Mode Dashboard Monitoring Mode is a mode which allows you to observe tracking without any ability to control and modify the system. Now, you can divide permissions between users for avoidance of accidental change of any settings and corrupting the system. That is something like safety button. This is the first version of Dashboard Monitoring Mode.
7.3 Geofencing zones Geofencing zones is a subset of zones which can be created to prevent people crossing dangerous zones. Zones violations leads to alarm and will be written into CSV-file.
- Create a zone using Shift+Left mouse click and clicking on map, click on point removes it - You can tune zone with entering distance and entering time. If zone created, press Save and close to save zone - Freeze map - Zone created and ready to work.
in the Dashboard 148
7.4 Floors feature (FN0011) The general view Floor feature allows to build complicated multi-level maps. Every submap correspond some height, height corresponds to floors.
Floor Settings - Every floor has its own adjustable height and its own floor plan - Use right mouse button on the floor area to see an additional menu. There you can change floor’s height. You can also insert your floorplan for that floor (.png, .jpeg, .bmp, .
Floor 5 is enabled: Floor 4 is enabled: Loading the Floorplan (Substrate) 151 - Right mouse button click on the floor -> Load floorplan -> Choose file (.png, .jpeg, .bmp, .tiff). - When the picture is loaded, you can drag the beacons to the points where they are actually located. After dragging two beacons, the picture with beacons will be combined in scale - Help video: https://www.youtube.
7.5 Submap Settings Every submap has its own settings.
7.6 Axis rotation feature (FN0002) General view Axis extension allows user to rotate the map. There are 90° gaps between views. It helps in case of multifloor tracking, when it is important to have a side view.
Z, X 154
7.7 Vertical submaps feature (FN0003) Vertical submap is a new feature for drone flights or some other specific cases. It gives the user an opportunity to get solid Z data for vertical movement Example: The drone flight How to build vertical submap for stable Z: 8.5.
8.5.2 Place 4 beacons on the ground, facing each other. (make a square, where the edge points are beacons, looking in the center) 8.5.3 Place two beacons high on a wall 8.5.4 Turn on RX4 only for beacons on the ground and RX4 and RX2 for beacons on the wall 8.5.5 Build the first submap (horizontal) consisting of all ground beacons 8.5.6 Change Limitation distance to manual and input the value in the submap’s settings 8.5.7 Freeze and lock it 8.5.
8.5.13 Choose submap 2 and enable “Only for Z coordinates” mode 8.5.14 Change Limitation distance value 8.5.15 Change views and check the map 8.5.16 Wake up mobile beacon 8.5.
7.8 Handover Zones Setting User must setup handover zones between submaps to guarantee handover quality for complex maps with multi-floor and similar.
7.9 Submaps feature (FN0004) Nose shows direction of the tracking zone 2D submap example Submaps is a very powerful feature that allows building large maps (full business center, factory, warehouse with total area of 10,000..300,000 or more) based on smaller submaps (30..1000m2). A submap is a part of the map. It includes a subset of used beacons covering part of the navigation area. Current version of Marvelmind system can include up to 10 submaps. Please also check our help video.
Starting submaps 160 - Hedgehogs do not belong to any submap and can move between sub-map areas. Hedgehogs can be served by multiple submaps at the same time. By default, the map consists of a single submap (Submap0) - After adding new beacons to the system (waking them up), they appear in the first not frozen submap or in Submap0 if all beacons are frozen - Pressing the “+” button will add a new empty submap to the system - Press the button with the submap number (Submap0, Submap1 etc.
- The system after adding beacons to the Submap0, adding new submap and the selection of Submap0 - Now we have 4 beacons, all in Submap0 (it can be seen near the table of distances) - When the submap selected, the context menu of beacons buttons (available by right clicking the mouse) have the functions of adding and removing the beacons from the submap. In the picture above, we are removing beacon 3 from Submap0.
- Pressing the “freeze map” button when the submap is selected will only freeze the selected submap. Pressing the “freeze map” button when the modem button is selected will freeze all submaps. - Now we have two good submaps, but they are not correctly located relative to each other. On the right side exist the parameters of shift and rotation for the selected submap; they can be filled in by hands.
- Submaps can be removed from the system by using the context menu of the submap selection button (available with a right mouse click) M1/M2 parameter used for precise superposing submaps which do not have common beacons. This means that submaps cannot be aligned automatically To align submaps: 1. Build the system like in previous instruction 2. Put M2 in mode on by clicking the icon. Place the hedgehog near the boundary between two submaps.
- The next step is to set Service zones, which are zones where tracking is possible. If a mobile beacon is out of a service zone it cannot be tracked. If you built a complicated map, you have to make service zones correctly. Service zones must be crossing in order to provide correct and glide tracking. How to create a service zone: 164 - Choose submap (click on the submap icon) - Use SHIFT + Left mouse button on the map to create point. - Use SHIFT + Left mouse button on the point to delete it.
7.10 Paired beacons (FN0005) - Two hedgehogs can be paired and work together as a single beacon without update rate reduction. - Moreover, each beacon streams out in this mode not only its own location, but direction where the pair is facing. This feature hugely simplifies autonomous driving and flight. Here is an updated protocol with the changes. - Please, also check our help video. Follow these steps: 1. Wake up stationary beacons and freeze the map 2.
7.11 Map settings Map Settings offer some helpful tools: 166 - Save map – saves map as .ini file into Dashboard folder/maps - Load map – loads map from .
7.12 Background color Starting from v6.200 Dashboard supports background color change. This is a small feature that helps make tracking look better. If you uploaded a floorplan and it is white, you can tune Dashboard’s background color to make it suit.
- Choose color and press “OK” - Color applied.
7.
‒ Choose any color which suits you and press OK ‒ Now, the hedgehog and its tracking path will be colored
7.14 Payload streaming (FN0007) - Mobile beacon streaming user payload to modem. See the table with speed vs. payload - All measurements were made with update rate setting 16 Hz. Real update rate is limited by distance, radio profile and payload data size. System configuration Radio profile, kbps User payload Real data per update cycle, bytes rate, Hz 2 stationary beacons, 3 meters maximum distance 500 (FEC) 0 32 0 32 0 32 0 32 0 32 0 32 0 32 0 32 153 (FEC) 38.4 (FEC) 38.
7.15 IMU feature (FN0008) This function allows to increase data update rate received from ultrasound beacon with IMU due to sensor fusion up to 100 Hz, using inertial sensors (accelerometer, gyroscope). Required: - Starter set Hedgehog with IMU SW and firmware version 5.85 or newer Ultrasound Update rate 4Hz or higher Setup IMU feature: Accelerometer calibration ‐ Before you start use the feature check whether accelerometer has been calibrated ‐ Check if hedge was not calibrated before.
Then take the beacon (hedgehog) and tilt it to each side towards the ground (about 6 times). Rotate a little. You need to achieve x y z values: ‐ When antenna directs down z ≈ - 1000 => antenna directs up z ≈ 1000 ‐ So, one of the axis values always will be - + 1000. Others ⩽ 10 (preferably less 10, but 25 is also permissible) ‐ Every time before calibrating hedgehog click Pause ‐ Accelerometer calibrator will choose the best value for each axe.
7.16 IMU axis positioning Super-Beacon IMU axis positions HW v4.
Mini-TX IMU axis positions Mini-RX beacon IMU axis positions 175
7.17 Player feature (FN0009) This function is used to view the distance passed, the flight of the copter, etc. The player displays statistics on the maximum and average speed, the path traveled 1. Go to File=>player 2.
3. Now log is loaded. Important: for recording log file click Save map for saving all the beacons locations and attaching all the beacons to the log At the top of the player you can see 5 outputs: Currently Playing Starting Log End of Log Start of Playback End of Playback Limited area distance between black triangles under slider. You can move triangles and zoom, place cursor on the slider + mouse wheel.
4. In play mode: grey points – RAW data, blue – Smooth Choose the hedgehog will be displayed In the main Dashboard window, you can turn off displaying service areas and stationary beacons by clicking Service areas visible, Stationary beacons visible. Statistics displayed depends on the chosen hedgehog in the list Max smooth forward, smooth backward – depth smoothing Smooth threshold - smoothing ratio.
7.18 Real-time player feature (FN0010) Real-time player is a feature, which makes the tracking path smoother. As far as it looks backward and forward it certain latency based on the selected parameters.
Real-time player turned on 180
7.19 CSV format Current Dashboard version supports additional timestamp. See the attached screenshot, the UNIX time in milliseconds is the first value. In each line comma separated values, CSV: - UNIX time in milliseconds (time since 1970.01.
8. Interfaces Indoor “GPS” system supports many external interfaces that can feed measured location data to an external system (robot, copter, VR, etc.). There are two different ways to obtain the mobile beacons’ location data from the system: 1. From the mobile beacons - Each mobile beacon knows its own position and does not know the positions of the other mobile beacons 2.
8.
8.2 184 Beacon HW v4.
8.3 185 Modem HW v4.
8.4 Mini-RX internal solderable pinouts (for experienced users only) Use it only if you sure that you can solder it correctly Do not forget to turn off the beacon with DIP-switches If you solder bad and kill the beacon, Marvelmind team won’t be responsible for it To get UART data streaming from beacon Mini-RX, you must solder to the pins on the board. *BAT - you can disconnect internal battery and supply here an external power source of 3.5V-5.
9. Advanced system settings and optimization Start using advanced settings only when you are confident with the system. If you run into trouble, connect the beacon or modem to the PC via USB and use the DEFAULT button. It will upload “factory settings” to the board while keeping the device address untracked.
9.1 Building big maps in Inverse Architecture (IA) This chapter is applicable only for Inverse Architecture 9.1.1. Introduction In this chapter we described building big maps in IA. It has differences from classic NIA map building because we have more than 1 ultrasonic frequency, and we need to make sure that they do not interfere with each other. Please, read carefully.
9.1.2. Map Map – the biggest unit in Marvelmind Indoor GPS. It consists of submaps and form full map of all stationary devices you have. After you build and tune all the submaps, waked up mobile beacon, you have to click on Modem icon and Freeze the map. It is the final stage of building the system. After you freeze map, tracking will appear. You can Save, Load, Erase map: Map Settings offer some helpful tools, it is situated in the right bottom corner of the Dashboard: 189 - Save map – saves map as .
9.1.3. Submaps Submap is a logical unit. A part of the map. It unites beacons to work together in the system. Submap can contain from 1 to 4 beacons. It can be 1D, 2D, and 3D. Different types of submaps can be used together. Mix 1D, 2D, 3D as you wish. Map of the office floor, for example, may contain 1D submap for corridor, 2D/3D submaps for office rooms. All that submaps will form a big map with coverage you need. Submaps can contain the same beacons. It makes possible to use 3 beacons instead 4.
9.1.4. Submaps’ service zones Service zone (or service area) is an area which serve submap. Service zone must be drawn for any submap you build. It helps to divide tracking between different submaps and outline the area of responsibility of every submap. How to create a service zone: 191 - Choose submap (click on the submap icon) - Use SHIFT + Left mouse button on the map to create point. - Use SHIFT + Left mouse button on the point to delete it.
9.1.5. Handover zones Handover zone is an area which creates when service zones cross. It serves to make a smooth transfer of mobile beacon from service zone of one submap to another Handover zone (marked blue) 14 10 12 11 How to create Handover zone correctly Size of a Handover zone may be different and depends on the mobile beacon’s speed and system’s update rate. We recommend testing it with the speed of your mobile beacon mounted on a person/robot/copter.
Example 2: Small handover zone: Hedge made 2-3 updates – MAY BE NOT ENOUGH 14 10 12 11 Example 3: Very small handover zone: Hedge made 1-2 updates – NOT ENOUGH 14 10 12 11 Example 4: No handover zone: Service zones not cross – NO HANDOVER ZONE CREATED, NO HANDOVER BETWEEN SUBMAPS 14 10 193 11 12
9.1.6. Beacons’ ultrasonic frequencies Beacons must have different ultrasonic frequencies in IA. It can be used for different aims and different cases.
9.1.7. Beacons’ jitter codes In order for the beacon to be able to move between submaps, the service zones of these submaps must intersect, the intersection area of the service zones of neighboring submaps forms a handover zone, when the beacon enters the handover, it becomes possible for it to go to the neighboring submap. This ensures the positioning of the beacon on the entire area of the map.
9.1.8. Examples of map building and beacons’ placement To make it possible for beacon to switch from the current submap to the neighboring one, the uniqueness condition for the frequencies of neighboring submaps is required, i.e. for any submap, all adjacent submaps must not have repeating sets of frequencies + jitter codes + TDMA sequence, it should be unique set for every submap.
Jitter codes: To make it possible for beacon to determine which submap it is located, it is necessary to fulfill the uniqueness condition for the set of frequencies and jitter in the submap with respect to the entire map. It allows to use the same sets of frequencies.
TDMA sequence: As far as we have only 5 ultrasonic frequencies, when we build big maps and when ultrasonic signals may interrupt each other, we must use TDMA. In this case submaps that cannot be used together will work alternately. Please notice that update rate falls by a multiple of TDMA sequence. If you have 8Hz basic update rate without using TDMA, 3 TDMA sequences will make it 8/3Hz.
Example 2: For example, a 100x100 meter map in open-spaced area consists of 55 submaps, the vertical rows of submaps are the same, but operate in different TDMA loops using TDMA type 3. In this example we used different colors for every TDMA position in sequence.
9.1.9. Map building Before building a map, you need to determine the need to use jitter and if it is necessary to select a mode, the modes differ in information capacity and transmission speed, i.e. for how many cycles the jitter code is transmitted: - Jitter Mode1 - information capacity = 6 bits, and transmitted in 2 cycles. Jitter Mode2 - 8 bits, 4 cycles. Jitter Mode3 - 4 bits, 8 cycles.
Next, you need to choose submap 0, add the beacons included in submap 0, and set the jitter code for them. If the distance is determined correctly in the automatic measurement mode, you can leave it in the distance table unchanged. If you need to change it, you can do this through the context menu. See detailed description of manual map building in the Operating Manual – Table of Distances chapter And set the required distance manually.
After that, you need to freeze the selected submap, create the next one by pressing the “+” button, make it active and repeat the operations starting from adding beacons to the new submap. When all the submaps are installed and frozen, you need to turn on all mobile beacons, add them to the card and freeze the map. After freezing, the parameters of stationary beacons and submaps are transferred to the beacons and stored in flash.
9.1.10. Testing The ability of a beacon to correctly position itself and determine the submap in which it is located completely depends on the correct measurement of the distance to each stationary beacon Stationary beacons in a submap emit at different frequencies. It is important to ensure the same reception conditions from different stationary beacons and frequencies, respectively, because the emission spectrum at one frequency has limited suppression at a neighboring frequency.
9.2 TDMA Type 2 - Full-overlapping TDMA The steps below describe how to run IA with TDMA feature, which helps to improve the tracking quality in complex situations. Suitable for IA only. Use IA Software Beacons HW v4.9 should have different frequencies When you work with two TDMA submaps, update rate reduces twice. 10.1.1. Mount stationary beacons in according to the TDMA chapters in Placement manual. 10.1.2. Wake up beacons included in Submap0.
19KHz+31KHz) 10.1.5. Activate mobile beacons. 10.1.6. Freeze the entire map. Now, you can work with it. 10.1.7. If you have any jumps, that can mean that you have wrong submaps’ positions. Unfreeze all and try to move it until you get their correct positions. TDMA modes: System supports two modes of TDMA: ‒ ‒ Mode 1 (Adaptive): Hedge determines which submap sees it better at the moment, and tracks in it.
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9.4.2.3. Change the Prefiltration coefficient and Ultrasonic filtering settings value to 0 (For IA): ‒ Choose your mobile beacon. Go to Ultrasound -> Prefiltration coefficient -> Enter 0 value ‒ Choose your mobile beacon. Go to Ultrasound -> Ultrasonic filtering -> Enter 0 value 9.4.2.4. Complete.
9.5 How to Place Beacons Avoid placing beacons on long sound-conducting objects This is very rare but may happen under some special circumstances. The best practice is to place beacons (stationary and mobile) in places that would not result in the transfer of ultrasound energy from the beacon’s board/case directly to the place it is attached via a medium other than air.
9.6 Using the Oscilloscope - Monitor the ultrasonic signal from one beacon to another - Use Dashboard => View => Oscilloscope to monitor ultrasonic signals from one beacon to another - It is a very powerful tool, because it also gives information on the background noise, level of the signal, echo, etc. With this tool, it is easy to set up the proper ultrasonic threshold on the Dashboard. Echo Type the reference beacon number and press Enter External noises look similarly.
9.7 Proper Ultrasonic Signal Detection This chapter mostly related to HW v4.9 beacons. Super-Beacons, Industrial Super-Beacons have high-power digital microphones for noise filtering and proper signal detection. Anyway, if you have problems with signal detection, read this chapter no matter which beacons do you use These recommendations suitable only for NIA Marvelmind Indoor Navigation System uses proprietary multi-frequency for ultrasonic signal and employs additional filtering to combat external noise.
9.8 212 Using hedgehog.log file - The system automatically records all measured positions in the hedgehog.log file that is stored in the same folder as the Dashboard.exe file - The data is written in csv format; each line describes the position of one of the hedgehogs at a certain moment - The line format is described here.
9.9 System Accuracy Evaluation Accuracy of distance measurement. - Marvelmind navigation system can measure distances between beacons with accuracy of +/- 2cm if correct ultrasound speed is used. - The ultrasound speed depends on several factors: temperature, pressure, and humidity. Other factors have an insignificant effect. - The main factor is temperature. In temperature range of -20…+50 °C the speed of ultrasound changes on about 0.6 m/ (s* °C). It gives distance error about (0.6 / 340) *100% ~ 0.
9.10 Calibration of the accelerometer To calibrate an accelerometer on your beacon with IMU, you can do the following steps: - Connect the mobile beacon via USB to the Dashboard - Make sure that the beacon has IMU on board: open View / Accelerometer menu and view / gyro data. In the presence of IMU graphics in these windows should display the angular velocity and acceleration when moving the mobile beacon (turn it in hands).
9.11 Settings to obtain correct north direction - In some cases, it is necessary to obtain a correct north orientation of the map for NMEA output from Marvelmind system. For example, when using a Marvelmind mobile beacon as the navigation data source for Pixhawk installed on a copter, correct north is required for correct yaw control of the copter. The Marvelmind system cannot determine north automatically, so the user should make corrections after building and freezing the map.
9.12 Communication of Pixhawk with Marvelmind mobile beacon The Marvelmind mobile beacon can be connected to Pixhawk (and to any other hardware or software that inputs GPS according to the NMEA0183 protocol). The mobile beacon can send GPS data via UART and USB (virtual UART) interfaces. For further explanation, please check out this document.
9.13 Sending path to robot 1. The dashboard sends request to modem via USB. Procedure of sending these requests in dashboard is shown on second screenshot. This format of request is described in section 8 of modem protocol: https://marvelmind.com/pics/modem_usb_protocol.
2. the hedgehog communicates with robot via UART. Hedgehog sends data according to section 2.3.1 of this protocol: https://marvelmind.com/pics/marvelmind_beacon_interfaces.pdf The robot should confirm receiving data by response packet shown in section 2.3 This communication on the robot side is implemented in the Arduino example on our site. As you can see in the protocol, robot should not request the waypoints, the hedgehog will send the waypoints when they will be transmitted from dashboard.
‒ Right mouse button on it -> Set movement path ‒ Shift+Left mouse click to add point
‒ Shift+Left mouse click on point, to remove that point ‒ Click on Upload path to send it to robot ‒ Path loaded
9.14 Proper ultrasonic coverage The single most important requirement for the system to work well is to have proper ultrasonic coverage Each sensor has an ultrasonic beam of ~90 degrees. Outside of that range, the emitting power and sensitivity drops quite rapidly. From the left, right, or back of the ultrasonic sensor, the signal is highly attenuated. Thus, it is crucial to provide proper ultrasonic coverage for the area where the robot will be moving.
- Example of proper positioning of the mobile beacon can be found here: https://youtu.be/PFgNPkLGCDk - The beacon is placed horizontally and above other objects that can cast a shadow on the stationary beacons - Keep the radio signal’s strength under control - The RSSI (Dashboard => right menu) of any beacon/modem must not be higher than -25dBm. Otherwise, the system may malfunction It is recommended the distance between the modem and beacons be no less than 0.5–1m.
9.15 Sensors settings: example for 2D and mobile beacon Beacon Beacon 2D Hedgehog 7 Beacon 2 RX1 and RX4 emit ultrasound in normal mode for better ultrasonic signal exchange with Beacon 3. In frozen mode RX2 added as working sensor.
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10. Frequently Asked Questions Please check this forum for more information. Here we will answer the most common questions 1 What is the proper way to place the beacons? - The actual distance between beacons must be ≤ 30m.
beacon far from stationary beacons and close to their plane may result in increased positioning error because of bad geometry of measurement 8 How to define IMU or not IMU beacon? - Check white sticker on the box and on the beacon's bottom /IMU - with IMU - Connect beacon via USB: Dashboard => View => Accelerometer data 9 Can we use none-IMU beacon as mobile beacon or not? - Yes, you can (https://www.youtube.
11. Troubleshooting checklist If you have any problems with the system, follow these simple steps: 228 - Update SW on modem and beacons - Now, connect all beacons and modem one by one and press Default button in the Dashboard (When updating the SW, please, press Default button to make sure that beacons really have default settings.
Checklist before starting the system: IA and NIA SW differs For IA you should use stationary beacons with different frequencies ‒ Make sure that you use correct SW. Inverse Architecture(IA) SW for Inverse system, Non-Inverse Architecture(NIA) SW for Non-Inverse system (Architectures comparison) ‒ Make sure that your beacons are 3.5V and higher before using. If not, charge it for 2-3 hours. ‒ Keep modem 1-2m away from beacons.
12. Contacts For additional support, please send your questions to info@marvelmind.
