Manual

14
Architecture comparison
Non-Inverse Architecture
(NIA)
Inverse Architecture (IA)
Typical use cases
‐ 1-4 autonomous robots/drones. Supported up to 250
beacons
‐ When mobile beacon shall be installed on a noisy vehicle,
but stationary beacons are in quieter places
‐ Many mobile users (people, robots, VR). Supported up to 250 beacons
‐ When mobile beacons are in quieter places
Not recommended
‐ In applications, where emitting ultrasound of mobile
beacon is undesirable
‐ For drones, because mobile beacon is receiving ultrasound. The range may be
limited to just 2-5m. Special HW solutions and future SW releases will allow to
overcome the limitation
Precision
‐ ±2cm or better:
https://www.youtube.com/watch?v=YAU-WXz26YY
‐ ±2cm or better: https://www.youtube.com/watch?v=OXetXiDyAZI
Location update
rate
‐ Directly depends on the number of mobile beacons (n) as
1/n –TDMA approach
‐ Slightly depends on the radio protocol, if low speed
profile (38kbps, etc.)
‐ Depends on the sizes of submaps. Larger submap – lower
update rate
‐ IMU fusion is HW and SW supported
‐ Does not directly depend on the number of mobile beacons
‐ Slightly depends on the radio protocol (the same as NIA)
‐ Depends on the sizes of submaps (the same as NIA)
‐ IMU fusion is HW-supported. SW support is coming
Ultrasonic range
‐ Up to 30m in real life and up to 50m in lab conditions within a submap, i.e. stationary beacons shall be placed every 30m or closer
‐ Can cover as large territory as you wish using submaps
Map building
‐ Can build a submap automatically, if HW v4.9 beacons
are used. Mini-beacons cannot build the map, because
they are TX-only
‐ Manual entry of stationary beacons’ location or distances between them is
required for Beacons HW v4.9, because they work on different ultrasonic
frequencies
‐ Super-beacons v6.0 allow automatic building of submaps (like in in NIA)