Marvelmind Indoor Navigation System Operating manual v2022_08_24 www.marvelmind.
Contents 1. Executive summary ........................................................................................................................ 13 1.1. Key capabilities: ........................................................................................................................ 14 1.2. Legend ...................................................................................................................................... 15 2. Basics of the system ..............................
5.2. 6. SW update (USB/Radio/DFU) .................................................................................................. 71 5.2.1. SW update via USB ............................................................................................................. 71 5.2.2. SW update via Radio ........................................................................................................... 73 5.2.3. SW update via DFU Programming .......................................................
9.3. Dashboard Monitoring Mode .................................................................................................. 166 9.4. Microphone settings ................................................................................................................ 167 9.4.1. Specific Marvelmind devices ............................................................................................. 167 9.4.2. Separate Omni-microphone.................................................................
10.2. Beacon HW v4.9 external interface 4x4 pinout top view ........................................................ 223 10.3. Modem HW v4.9 external interface pinout top view ............................................................... 224 10.4. Mini-RX internal solderable pinouts (for experienced users only) .......................................... 225 11. Advanced system settings and optimization ................................................................................ 226 11.1.
Version changes V2022_08_24 - Chapter 6 updated - Chapter 8 updated - Section 11.3 updated - Minor improvements V2022_08_17 - Minor fixes and improvements V2022_08_12 - Chapter 4 updated V2022_08_10 - Section 9.11 Filters added - Section 11.16 Sending path to robot updated - Minor fixes and improvements V2022_08_05 - Section 7.2 updated - Section 9.12 added - Section 9.2 Islands feature added - Section 9.10 All hedgehogs update every cycle added - Section 9.14.
V2022_05_13 - Section 5.2 DIP switch position added - Information about Industrial Beacons 3 added V2022_05_06 - Section 7.11 updated - Section 2.3 updated - Section 9.1 updated V2022_04_26 - Section 4 - Software pack added V2022_04_07 - Section 4 screenshots updated - Section 6.7.3 added - Section 6.7.4 added - Section 6.12 updated - Section 6.13 updated - Section 6.9.1 updated - Section 5.9.2 updated V2022_04_05 - 3.1 section updated - 3.2 section updated - 3.
- 1.1 distance between beacons updated - 3.2 section updated - 3.4 section updated - 9.11 section updated - 11.1 section updated - Minor fixes and improvements V2021_08_12 - Omni-microphone soldering scheme added - Omni-microphone setting description added V2021_07_04 - Added Microphone settings chapter V2021_06_20 - Added connection pictures for Paired beacons chapter - Links fixed for interface manual V2021_06_10 - “Paired microphones” chapter added.
V2020_11_24 - Licenses chapter updated Different beacons’ colors chapter improved Minor fixes and improvements V2020_11_11 - Player chapter improved Diagnostics messages chapter described SW update chapter added Paired beacons chapter improved Minor fixes and improvements V2020_08_07 - Modem HW v5.
V2020_02_14 - Architectures comparison table added Legend chapter improved Minor fixes and improvements Floorplan Help video added V2020_01_17 - External microphones connection for Mini-RX and Super-Beacon described Minor fixes and improvements V2019_12_10 - Appendixes chapter improved Minor fixes and improvements V2019_12_03 - Appendixes chapter added (protocols) Minor fixes and improvements V2019_11_18 - Mini-RX solderable pinouts described Industrial connectors pinouts improved Minor fixes
- IA details added Troubleshooting improvements Minor fixes and improvements V2019_05_16 - Introduction of the Legend Added missing video on page 34 Minor fixes and improvements V2019_04_30 - DFU programming described Magnetic reset for Industrial beacons and DFU programming described Minor fixes V2019_04_04 - Starting up the system description for different Starter Sets (NIA, Industrial NIA and IA) Sending path to robot described V2019_03_18 - New names for beacons: DSP => Mini-RX, Mini-beacon =>
- - Improved: now, submaps support up to 4 beacons only. More than that – build another submap. Up to 250 beacons (mobile + stationary combined) and up to 250 submaps are supported per beacon Bug fix: improved map building with active hedgehog Bug fix: duplicated address might work incorrectly in some cases V2018_11_08 - Real-time player feature described V2018_08_30 - New SW features described New Dashboard view described V2018_08_03 - 12 Calibration of accelerometer described F.A.Q.
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.
1.1.
1.2. Legend Legend chapter contains small icons and signs to highlight some key points of the text.
2. Basics of the system Here are examples of the Starter Sets 2.1. : What’s in the box 2.1.1. Starter Set Super-MP-3D: - 4 x Stationary Super-Beacons with different frequences (19kHz, 22kHz, 25kHz, 28kHz, 31kHz, 34kHz, 37kHz, 45kHz). Can be used as AI and NIA. - 1 x Mobile Super-Beacon - 1 x Modem v5.1 supporting up to 250 beacons 2.1.2. Starter Set IA-04-2D-Badge: - 2 x Super-Beacons – 915/868 MHz with different ultrasonic frequencies (f1 and f2 – usually, 25kHz and 31kHz).
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.
Here is a tutorial video about architectures: - 18 Help: Inverse Architectures (IA) vs.
Architectures’ elements 2.3. A map is a system unit that includes submaps, stationary beacons and service zones within which positioning of mobile beacons is ensured by ultrasonic signals from the stationary beacons of this submap.
2.4. Indoor “GPS” System close-up and internal view Here, you can see how system elements look like 20 - Super-Beacon: - Modem HW v5.
- Beacon Mini-TX: - Beacon Industrial-RX: - Beacon Industrial-TX-Metal:
- 22 Industrial Super-Beacon-Plastic:
3. System elements Here are represented core elements required for stable working of the system: 3.1. Control system (Dashboard) Dashboard is a Windows/Linux app for setting up and tuning the system. It also allows to get the tracking data.
3.2. 24 Stationary beacon - Usually mounted on walls or ceilings above the robot with ultrasonic sensors facing down—to provide the most robust unobstructed ultrasonic signal coverage to the robot.
3.3. 25 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.
3.4. 26 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 modems There are 3 types of Marvelmind modems: - Modem HW v5.1 – newest and mostly use version of modem. - Modem HW v 4.9 – old version of Modem HW v5.1. out of production, get bugfixing SW update only - Super-Modem - is a superior version of the Modem HW v4.9 and Modem HW v5.1 with advanced capabilities 3.5.1. Super-Modem Super-Modem is a superior version of the Modem HW v4.9 and Modem HW v5.1 with advanced capabilities. Fig.
- Currently, supports license-free 915MHz ISM band (for example, US, Japan, Korea) and license-free SRD band 868MHz (EU, Russia). Future 433MHz HW variants may come in some months, but no firm schedule yet. You can place orders for 433MHz. When sufficient amount is collected, we will produce the 433MHz version as well - Supports all types of beacons working in the 915MHz band (among them: SuperBeacons, all Industrial beacons, Mini-RX, Beacons HW v4.9, Helmets, Badges, Jackets, Watches, etc.
3.5.2. Modem HW v5.1 Modem HW v5.1 is a superior version of the Modem HW v4.9. Modem HW v5.1 looks almost the same as Modem HW v4.9. To distinguish it, check white sticker on the bottom Modem HW v5.1 and Modem HW v4.9 brief comparison: - Modem HW v5.1 has more memory - Modem HW v5.1 has higher radio range - Modem HW v5.1 more sensitive - Modem HW v5.1 has TELEC T-108 Japan certification - All new features come to the new Modem HW v5.1 Fig.1: Modem HW v5.1 - Fig.
3.5.3. Modem HW v4.9 Modem HW v4.9 has balanced features and performance. Since Modem HW v5.1 released, Modem HW v4.9 will get bug-fixing SW updates only 30 - The modem is also used to set up the system, monitor it, and interact with the Dashboard - It can be placed anywhere within radio coverage for permanent radio connection with all beacons—usually in the radius of up to 100 meters with antennas from the Starter Set - Radio coverage further extended to a few hundred meters by Fig.1: Modem HW v4.
3.6. Different types of beacons There are many types of beacons. Each of them is using in different ways, depends on your case and preferences. There is small Beacon Mini-RX that can receive ultrasound and mostly using as mobile beacon. Compact beacon Mini-TX – for ultrasound transmitting only. This is good for copter and tracking for its small size. Super-Beacon – can receive and transmit ultrasound, using in most cases. Could be made in Outdoor modification.
3.6.1. 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 NonInverse Architecture (NIA) and the Inverse Architecture (IA): Architecture comparison. Supports license-free 915MHz ISM band (US) and licensefree SRD band 868MHz (EU). Support of the 433MHz ISM band (EU) comes with a larger order.
Figure 2: Transmitting diagram (with ultrasound transmitters) Figure 4: Receiving diagram (with digital microphone) Figure 3: Transmitting diagram (with ultrasound transmitters) Figure 5: Receiving diagram (with digital microphone) FCC NOTICE: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation.
The equipment should be installed and operated with minimum distance 20cm between the radiator & your body.
3.6.1.1. Omni and External microphones extension This modification of the Super-Beacon allows you to bring the receiving microphone to any place on your 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 possible to connect External Microphone-IP67 or Omni-Microphone-IP67 It is also possible to use 2 External Microphones to calculate the direction, or to improve and increase the reception area.
Figure 2: Super-Beacon with two External Microphones connected Figure 3: Super-Beacon with Omni 36
3.6.1.2. Omni microphone schemes If you don’t want to use 4x4 pinout to connect Omni, use this scheme to solder it.
3.6.1.3.
Figure 7: One External Microphone connection Figure 8: Two External Microphone connection 39
3.6.2. Beacon Mini-RX The Beacon Mini-RX 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 4.9 and Mini-RX than between Beacon HW 4.9 and Beacon HW 4.9.
3.6.2.1. How to flash Beacon Mini-RX When you receive Beacon Mini-RX, it is turned off. Open it, to get access to DIP switch. Put DIP switch to needed position: - When DIP switch in this position – only charge of device is possible. Put DIP switch to this position: - To turn on the beacon - For HEX programming (via Dashboard) Put DIP switch to this position: - 41 For DFU programing (via: DfuSe v3.0.5 or DfuSe v3.0.
3.6.2.2. External microphone extension for Mini-RX 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. Length is 25cm (default), may be expanded up to 1m (optional).
3.6.2.3.
Figure 3: One external microphone soldering Figure 4: Two external microphones soldering 44
3.6.2.4.
Figure 7: Two External Microphones final view Figure 8: Two External Microphones final view 46
3.6.3. Beacon Mini-TX The Mini-TX is a TX only beacon, i.e. it can transmit, but cannot receive ultrasound. Comparison to Beacon HW v4.9: 47 - Smaller size and lighter: 47x42x15mm & 25g vs. 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.
3.6.4. Beacon Industrial-TX-Metal Do not disassemble the Industrial beacons.
- CAN modification pinouts - Can work with any Mini-RX beacon or Beacon HW v4.
3.6.5. Beacon Industrial-RX Do not disassemble the Industrial beacons. Otherwise, warranty will be lost - 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 or +5V).
- RS485 modification pinouts (Before Sep.
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 Superbeacon 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.
3.6.6. Industrial Super-Beacon Metal-25kHz Do not disassemble the Industrial beacons. Otherwise, warranty will be lost - 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 IndustrialRX or Mini-RX does. Effectively, the Industrial Super-Beacons beacons combines inside an Industrial-TX and Industrial-RX. Additionally, the beacon supports both AI and NIA architectures.
- Most of all designed to work together with Outdoor versions of Mini-RX beacons and heavy outdoor Industrial-TX and Industrial-RX beacons (radio bands must match) - Up to 30m with Beacon Mini-RX - Optional external Converter-220V-12V-IP67 (except version from April 2022, it supports only +5V power supply) Uploading Beacon Industrial’s (Not super) DFU software to Industrial SuperBeacon hardware make permanently damage for Industrial Super-Beacon board.
3.6.7. Beacon HW v4.9 Beacon HW v4.9 can be used in both the Non-Inverse Architecture (NIA) and in the Inverse Architecture (IA): NIA and IA comparison Reception diagram.
4. Software pack In this chapter you can find out how to use our SW pack. Always remember: - All devices must be flashed from the same SW Pack Don’t look on the dates in the name of file, they can be different, pay attention only to the name of the device. If the device was flashed with an older firmware version then Dashboard, this will be displayed in the diagnostic message window: Changes in files in the Marvelmind SW pack (from SW version 7.
4.1. Download and open 4.1.1.Go to our web-site https://marvelmind.com/ => https://marvelmind.com/download/ and download the latest Marvelmind SW pack 4.1.2.
4.2. Dashboard folder In this folder you can find all modifications of Dashboard.
4.3. Software IA folder In this folder you can find all software to flash devices to build a map in Inverse Architecture. Use this folder to flash sets: 1) Starter Set IA-04-2D-Badge 2) Starter Set Super-MP-3D in Inverse Architecture For Badge: For Beacon HW 4.
For Helmet For Industrial Super-Beacons* (watch the next page to learn more about IndustrialBeacons types) For Jacket (IA) For Modem HW v4.9: For Modem HW v5.
4.3.1.
4.4. Software NIA folder In this folder you can find all software to flash devices to build a map in Non-Inverse Architecture. Use this folder to flash sets: 1) Starter Set HW v4.
For Beacon HW 4.5 For Beacon HW 4.9 433 and 915 NIA: For Beacon Mini-RX: For Beacon Mini-TX: For Industrial Beacons: For Modem HW v4.9: For Modem HW v5.
4.5. Super-Modem folder Folder with Super-Modem software (same software for both NIA and IA). Warning! If your current Super-Modem software version is less than 7.000, you need to reflash micro-SD card inside the Super-Modem for update. Super-Modem Micro-SD card image is supplied in separate archive, because it is pretty large. After SW release v7.040 you can flash Super-Modem via Dashboard. Flash both levels – high and low.
5. SW settings descriptions 5.1. Super-Modem’s SW update and configuration description 5.1.1. Super-Modem’s SW update Do not disassemble the Super-Modem before you check the SW version installed. First of all, check if the SW version of your Super-Modem is up to date (Latest version on the Marvelmind Downloads page).
5.1.2. How to update Super-Modem (for SW version from v7.000) In latest versions of SW it’s possible to flash Super-Modem without dissembling. 66 5.1.2.1. Connect power Supply to Super-Modem and connect Super-Modem to PC via USB. Wait for 1 minute till it appears in Dashboard 5.1.2.2. There are two Firmware versions – Low level (Firmware version) and High level (High level software version). Both of them should be flashed from the same pack. 5.1.2.3.
5.1.2.4. Update high level SW (from folder Super-Modem_high_level SW) 5.1.2.5. When high level flashing done, use file from folder SuperModem_low_level_SW 5.1.2.6. Press Default button after flashing of both levels. 5.1.2.7. Firmware update successfully completed.
5.1.3. How to update Super-Modem’s SW (for SW version older than v7.000): Do not disassemble the Super-Modem before you check the SW version installed. First of all, check if the SW version of your Super-Modem is up to date (Latest version on the Marvelmind Downloads page). If not – update the software as described below Follow the steps below to update Super-Modem’s SW. 68 5.1.3.1. Open Super-Modem enclosure 5.1.3.2. Eject the micro-SD card (Super-Modem should not be powered at this time) 5.1.3.3.
5.1.4. Super-Modem’s configuration Do not disassemble the Super-Modem before you check the SW version installed. First of all, check if the SW version of your Super-Modem is up to date (Latest version on the Marvelmind Downloads page). If not – update the software as described below 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.
5.1.4.1. Super-Modem’s settings descriptions In file “network_options”: - wifi_network – name (SSID) of WiFi network to connect - wifi_password – password (PSK) for this network In file “stream_options”: - 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 If you need more information about UDP streaming here https://marvelmind.com/pics/UDP_C_example.
5.2. SW update (USB/Radio/DFU) This chapter describes three general ways of SW update. Regular - using USB connection, or Radio connection. And SW update for special cases (if SW version gap is very big, or regular SW update do not work) – DFU Programming. 5.2.1. SW update via USB Usually, SW update via USB is used for the very first time you starting up the system. It allows you to make an update up to actual SW version very quickly before the system deployment. Pros: Quick SW update per beacon.
- Choose .hex SW file for your device (Be careful with IA and NIA architectures, do not mix it) - Click “Next” - Wait until beacon update finishes Note: Press Default button for every beacon after SW update - Repeat for all your beacons Be careful: Default button will apply full default settings to this beacon, except it’s address.
5.2.2. SW update via Radio Usually, SW update via USB is used for the very first time you are starting up the system. It allows you to make an update up to actual SW version very quickly before system deployment.
5.2.3. SW update via DFU Programming Not applicable to “Outdoor” versions of originally non-outdoor versions Usually, SW update happen using regular USB or Radio SW update. But in case when you didn’t update your system for a long time (and get a big SW version gap), or you faced with some unexpectable troubles – please do the DFU Programming SW update. This chapter describes DFU update for different types of devices. Pros: Ultimatum SW update – erases all glitches, settings and etc.
- Mini-TX beacon: Disassemble Reset button (on the other side) DIP switches Carefully Industrial beacons have no switches and reset buttons, but they have magnetic DFU switch and magnetic Reset button: - Industrial Super-Beacon-Plastic: Magnetic Reset side - Industrial Super-Beacon Metal-25kHz: Magnetic Reset side 75 Magnetic DFU switch side Magnetic DFU switch side
- Beacon Industrial-RX: Magnetic Reset side Magnetic DFU switch side How to enter into DFU mode and Reset different types of Modems: - Modem HW v5.1: Hardware Reset button (on side) DFU mode pins - Modem HW v4.
DFU Programming process: 1.
8. 78 Exit from the DFU mode: - For regular and non-Industrial versions of beacons – switch DIP switches into positions shown on the picture (Left – down, right – up) and press the Reset button – device will exit from DFU mode - For Industrial versions of beacon and Super-Modem – remove one from the DFU switch side, and attach for 1 second the second magnet to the Reset side of the device – device will exit from DFU mode - For Modem HW v5.1 and Modem HW v4.
6. Setting up the system 6.1. Introduction Our system supports Non-Inverse Architecture and Inverse Architecture. But we strongly recommend to start from NIA in 2D configuration (2 stationary beacons and 1 mobile beacon). As you achieved perfect results in NIA, you can set up the system in IA.
6.2. DIP switch positions This chapter shows different DIP switchers positions of devices on the example of a Super-Beacon. 6.2.1. DIP switch position for OFF beacon When DIP switch in this position – only charge of device is possible. Reset button DIP switches 6.2.2. DIP switch position for work and HEX programming Put DIP switch to this position: - To turn on the beacon - For HEX programming (via Dashboard) Reset button DIP switches 6.2.3.
6.3. Starter Set Super-MP-3D (NIA and IA) The steps below describe the very first time you set up the system in NIA. Super-Beacons and Modem HW v5.1 required. This Set can bused in IA and NIA. Use NIA Software for Non-Inverse Architecture and IA Software for Inverse Architecture. 6.3.1.Unpack the system. Look at a similar unpacking video of HW v4.9. The videos have certain differences but the basic are the same: Unpacking Marvelmind Precise (+-2cm) Indoor "GPS" 6.3.2.
6.3.8.Ensure that: 6.3.9.You are programming the modem’s SW to the modem and the beacon’s SW to the beacon 6.3.10. You are using SW for Super-beacon, if you have Super-beacon; 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 6.3.11. If SW flashed SUCCESSFULLY, MOVE DIRECTLY TO 6.3.13. If you have some problems with HEX programming, use DFU programming: 6.3.11.1.
6.3.11.13. Choose the DFU driver (file) for the beacon 6.3.11.14. Click the UPGRADE button 6.3.11.15. 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. If the DFU appears to upload immediately, check the "Choose" button you used or change the version of DfuSe SW you selected 6.3.11.16. Move the DIP switch into Power = ON, DFU = OFF 6.3.11.17.
6.3.11.23. 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. If the DFU appears to upload immediately, check the "Choose" button you used or change the version of DfuSe SW to a different one 6.3.11.24. Disconnect the short circuit 6.3.11.25. Start the Dashboard and press RESET button 6.3.12. If you experience difficulties in DFU programming, please try the following: 6.3.12.1.
6.3.15. Write down the beacon’s address for future use or change the address at your convenience. Enter device address and press ENTER, after - press write changes button. Beacons addresses should not be repeated. 6.3.16. Press the RESET button on your beacons and modem after programming 6.3.17. After programming devices with the latest software, the modem and beacons are ready for use 6.3.18.
Side view of 2D configuration: Stationary beacon Stationary beacon Mobile beacon Modem beacon ≈4-6m Top view of 2D configuration: ≈6-10m More information about placement you can find in Placement Manual 86
6.3.19. Connect the modem/router via USB to a Windows PC with the Dashboard installed 6.3.20. Run the Dashboard. In the left corner of the Dashboard, the modem should be shown as connected 6.3.21. Wake up all beacons by selecting them on the Dashboard panel 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. 6.3.22. It may take up to 7-10 seconds for the beacons to wake up 6.3.23.
6.3.27. Enter the height of stationary beacons. Choose beacon in the list and enter height value Enter the height for mobile beacon if you are using 2D mode 6.3.28. 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 6.3.29. Double click on the device both to put it into sleep mode and to wake it up 6.3.30. The map will form and zoom in automatically 6.3.31.
6.3.32. 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. If you have any problems – check Table of distances chapter 6.3.33. Make a service zone, clicking on the map with Shift + Left click. See Submaps chapter for more details 6.3.34. Freeze the Submap by clicking the button.
6.3.35. Turn on and wake up the mobile beacon following the same steps as with the stationary beacon. More details in our video: https://youtu.be/A4aRsjH2-_E 6.3.36. 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.
6.3.38. The system is now fully operational. 6.3.39. 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.
6.4. Starter Set HW v4.9 The steps below describe the very first time you set up of the system in NIA. Beacons HW v4.9 with the same frequencies and Modem HW v4.9 required. This is Non-Inverse Architecture. Use NIA Software ONLY 6.4.1.Unpack the system. Watch the help video: https://youtu.be/sOce7B2_6Sk 6.4.2.Charge all the beacons using USB cable. Full charging takes about 1-2 hours Reset 6.4.3.
If SW flashed SUCCESSFULLY, 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. For example, when you are updating from a very old SW version or when the SW includes major changes to the system and the only possible way to update the SW is via DFU programming 93 6.4.5.1. After the DFU SW upgrade, future SW upgrades can be done in a regular manner via the Dashboard 6.4.
6.4.5.12. Choose the DFU driver (file) for the beacon 6.4.5.13. Click the UPGRADE button 6.4.5.14. 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. If the DFU appears to upload immediately, check the "Choose" button you used or change the version of DfuSe SW you selected 6.4.5.15. Move the DIP switch into Power = ON, DFU = OFF 6.4.5.16.
6.4.5.22. Modem will go to DFU mode. Press UPGRADE button in the DfuSe program 6.4.5.23. 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. If the DFU appears to upload immediately, check the "Choose" button you used or change the version of DfuSe SW to a different one 6.4.5.24. Disconnect the short circuit 6.4.5.25. Start the Dashboard and press RESET button 6.4.5.26.
Side view of 2D configuration: Stationary beacon Stationary beacon Mobile beacon Modem beacon ≈4-6m Top view of 2D configuration: ≈6-10m 6.4.11. Connect the modem/router via USB to a Windows PC with the Dashboard installed 6.4.12. Run the Dashboard. In the left corner of the Dashboard, the modem should be shown as connected 6.4.13. Wake up all beacons by selecting them on the Dashboard panel Only 4 stationary beacons may be in 1 submap.
6.4.18. Now you can check RSSI, voltage, ultrasonic filter settings, etc. on the panel on the right corner of the Dashboard 6.4.19. Enter the height of stationary beacons. Choose beacon in the list and enter height value Enter the height for mobile beacon if you use 2D mode 6.4.20. 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 6.4.21.
6.4.24. 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. If you have any problems – check Table of distances chapter 6.4.25. Make a service zone, clicking on the map with Shift + Left Click. See Submaps chapter for more details 6.4.26. Freeze the map by clicking the button.
6.4.30. The system is now fully operational. 6.4.31. 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.
6.5. Starter Set NIA-SmallDrone The steps below describe the very first time you set up the system. Super-Beacon, MiniTX beacons and modem required. Note: steps below feature the Mini-RX, which is not part of the set anymore. This will be updated later, but the process is still the same. Super-Beacon and Mini-TX have different HW and SW from HW v4.9. Use SuperBeacon SW for Super-Beacons, Mini-TX SW for Mini-TX beacons, HW v4.9’s SW for HW v4.9 6.5.1.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.
6.5.5.7. Connect the beacon via USB to your PC 6.5.5.8. Run DfuSe 6.5.5.9. Press the RESET button on your beacon 6.5.5.10. In the upper left corner of the DfuSe program, you will see a device connected in the DFU mode 6.5.5.11. Choose the DFU driver (file) for the beacon 6.5.5.12. Click the UPGRADE button 6.5.5.13. 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.
6.5.5.18. After uploading DFU driver by DfuSe short circuit pins as shown on the picture and press Reset button 6.5.5.19. Modem will go to DFU mode. Press UPGRADE button in the DfuSe program 6.5.5.20. 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.
6.5.7.Write down the beacon’s address for future use or change the address at your convenience as shown here 6.5.8.Press the RESET button on your beacons and modem after programming 6.5.9.After programming devices with the latest software, the modem and beacons are ready for use 6.5.10. 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.
≈4-6m Top view: ≈6-10m 6.5.11. Connect the modem/router via USB to a Windows PC with the Dashboard installed 6.5.12. Run the Dashboard. In the left corner of the Dashboard, the modem should be shown as connected 6.5.13. Wake up all beacons by selecting them in the Dashboard on the panel 6.5.14. It may take up to 7-10 seconds for the beacons to wake up 6.5.15. Notice, that if the modem is not active and is not powered, the beacons will go into sleep mode automatically after 1 minute 6.5.16.
Enter the height for mobile beacon if you used 2D mode 6.5.20. 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 6.5.21. Double click on the device to put it into sleep mode or wake it up Only 4 stationary beacons may be in 1 submap.
6.5.22.1. Open the Dashboard. You will see the table of distances 6.5.22.2. Right click on the cell where 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 6.5.22.3. 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.
6.5.25. 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. 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.
6.6. 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.
Magnetic Reset side Magnetic DFU switch side - 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.
- Download DfuSe - Here you will find different versions of DfuSe. v3.0.5 or v3.0.6, whichever works the best for your Windows: DfuSe v3.0.5 or DfuSe v3.0.6 DFU Programming: Uploading Beacon Industrial’s (Not super) DFU software to Industrial SuperBeacon hardware make permanently damage for Industrial Super-Beacon board. Be double attentive with update 6.6.5.1. Activate DFU mode and reset the beacon (Industrial beacons have magnetic DFU mode and reset).
6.6.5.6. Choose the DFU driver (file) for the beacon 6.6.5.7. Click the UPGRADE button 6.6.5.8. 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. If the DFU appears to upload immediately, check the "Choose" button you used or change the version of DfuSe SW you selected 6.6.5.9. Start the Dashboard 6.6.5.10. Reset the beacon again 6.6.5.11.
6.6.5.16. 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. If the DFU appears to upload immediately, check the "Choose" button you used or change the version of DfuSe SW to a different one. 6.6.5.17. Disconnect the short circuit. 6.6.5.18. Start the Dashboard and press RESET button. 6.6.6.
6.6.8.Write down the beacon’s address for future use or change the address at your convenience as shown here 6.6.9.Press the RESET (Industrial beacons have magnetic re button on your beacons and modem after programming 6.6.10. After programming devices with the latest software, the modem and beacons are ready for use 6.6.11. 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.
≈4-6m Top view: ≈6-10m 6.6.12. Connect the modem/router via USB to a Windows PC with the Dashboard installed 6.6.13. Run the Dashboard. In the left corner of the Dashboard, the modem should be shown as connected 6.6.14. Wake up all beacons by clicking on the buttons in the Dashboard on the panel 6.6.15. It may take up to 7-10 seconds for the beacons to wake up 6.6.16. If the modem is not active and is not powered, the beacons will go into sleep mode automatically after 1 minute 6.6.17.
6.6.20. Enter the height of stationary beacons. Choose beacon in the list and enter height value Enter the height for mobile beacon if you use 2D mode 6.6.21. 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 6.6.22. Double click on the device to put it into sleep mode or wake it up Only 4 stationary beacons may be in 1 submap.
6.6.23.3. 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 6.6.23.4. Repeat for all cells 6.6.24. Freeze the map by clicking the button. Stationary beacons will stop measuring relative distances and will be ready to measure distance from the mobile beacon(s) 6.6.25.
6.6.28.
7. Dashboard menu and Parameters 7.1.
7.2. Diagnostics messages window Diagnostic messages window is an area where important system’s messages appears. It may contain a lot of useful information. Diagnostics window is placed on the top of the Dashboard. If the field is empty, that means that system didn’t find any issues for the launch. If you have any messages, please check it carefully and fix the issue.
Here is the list of the messages (relevant for Dashboard v7.200): Left diagnostic window: 121 - Same ultrasonic frequency in submap0 beacons: n2, n3 - use beacons with different frequencies in IA submaps - Paired beacons 25/26 ultrasonic and IMU fusion not completed. Angular difference: 45 degrees appears if angle difference between beacons more than 5 degrees - IA architecture can't be selected. Upload IA firmware to modem - NIA architecture can't be selected.
- Floorplan scaling: click first point on floorplan. ESC to cancel. - Floorplan scaling: click second point on floorplan. ESC to cancel. - Floorplan is glued. Can't scale - Floorplan is glued.
7.3. 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. There are two ways of measuring: - Measuring by ultrasound (automatic) Measuring by user (manual) Measuring by ultrasound is impossible for Mini-RX and Industrial-RX beacons In noisy cases and cases with long distances it is better to use manual input 7.3.1.
7.3.2.3. 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 7.3.2.4. 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.
7.4. Devices List Devices list contains information about all the beacons in the system. It also allows to search, add and delete it. Devices in this section are divided into two types: - Stationary beacon (beacon) Mobile beacon (hedge) Devices list allows user to manage devices Use double click to put beacon into sleep mode 7.4.1.
7.5.
7.6. Map Settings Map Settings offer some helpful tools: 127 - Save map – saves map as .ini file into Dashboard folder/maps Load map – loads map from .
7.7. 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.
7.8.
7.9. Detailed settings This bar allows user to adjust devices very precisely. It contains a lot of parameters for advanced usage 7.9.1. Modem Settings 7.9.1.1. Basic Settings Unique processor ID for each device (beacon or modem) Firmware version of device (beacon or modem) Architecture type (IA or NIA) Location update rate settings: 1/20Hz – 16Hz+. Notice that real update rate may be limited by distances between beacons or radio profile Power supply voltage of the device 5V+-0.
Pre-selected channel – one of the radio channels for communication between modem and beacons Logical address of the device. Keep 2..255 for beacons. Address TBD Averaging between location update measurements. More value – less location jitter, but higher latency Filter of distances (as opposed to filter of locations). More – better filtering, but may be too conservative and “kill” good measurements TBD Keep Enabled normally.
7.9.1.2.
7.9.1.3. 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.
7.9.1.4.
7.9.2. Beacon’s settings 7.9.2.1. Basic settings Unique CPU ID Firmware version of device (beacon or modem) TBD Enable for mobile beacon and disable for stationary beacon Measured voltage of internal battery Time from the latest reset Strength of the radio signal from modem to this beacon, i.e. how the beacon “hears” the modem over radio. Keep below 25dBm and above -80dBm to avoid losses of packets.
Selected radio channel Selected device’s address Height – must be set for stationary beacons.
7.9.2.2.
7.9.2.3. 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.
7.9.2.4. 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 145
7.9.2.5. 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) 7.9.2.6. Georeferencing The same as with modem The same as with modem 7.9.2.7. Misc.
7.9.2.8. Hedgehogs pairing Enable for Paired Beacons feature: https://youtu.be/aBWUALT3WTQ Also look at chapter 6.
7.10. 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.
7.11.
7.12. Different beacons’ colors in the Dashboard Beacons can have different ultrasonic frequency.
8. The Map 8.1. Introduction Map – the biggest unit in Marvelmind Indoor GPS. It consists of submaps and forms a full map of all stationary devices you have. After you build and tune all the submaps and wake up the 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 the map, tracking will appear.
8.2. Map layers The map consists of several layers. Each layer can be attached to other.
8.3. The Submap 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 of 4.
8.4. 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.
8.5. 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 10 156 11 12
- Example 4: No handover zone: Service zones not cross – NO HANDOVER ZONE CREATED, NO HANDOVER BETWEEN SUBMAPS 14 10 157 11 12
8.6. Beacons’ ultrasonic frequencies Beacons may have different ultrasonic frequencies in the System. It can be used for different aims and different cases.
9. Features 9.1. Licenses 9.1.1. How to activate licenses Please pay attention that we have different types of licenses: For modem and for beacon. If you need to activate beacon’s license – connect the specific beacon to the Dashboard to choose license for that beacon. Connect modem for modem’s 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.
- Go to Licenses → View/activate licenses - Choose the licenses which you have purchased. - Press Order licenses. - Dashboard will generate a text - Send generated text to info@marvelmind.
9.1.2. License MMSW0005 designation in Dashboard MMSW0005 – one of the most significate license for Marvelmind SW. Learn more: SW Pack 7.0/7.1 Release Notes In the previous version of SW (older than 7.200), when license been activated version of SW changed from 7.0xx to 7.1xx. From version 7.
9.2. Islands feature To use Islands Feature license MMSW0007 needed and Marvelmind SW from version 7.200 and latest. This feature allows to make different submaps for each hedge. How to do this (it’s example with 2 submaps. 4 stationary beacons and 2 mobile beacons): 162 - Awake all 4 stationary beacons (just Click on it with Left mouse button): - Leave 2 of them on Submap0 and move another 2 on Submap1. You will get 2 separate submaps..
- Move submaps as you wish. Use CTRL and mouse roll to rotate Submap. - Awake mobile beacons. It will apeare in a map.
- If license activated correctly, with selected modem you can select the “islands” mode and assign mobile beacons to submaps.
- Now mobile beacon 12 will be work with Sub1 and beacon 9 will be work with Sub0. - Freeze each submap and Freeze map. - Ilands settings completed.
9.3. 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.
9.4. Microphone settings 9.4.1. Specific Marvelmind devices For different devices should be turned on different mics.
9.4.2. Separate Omni-microphone You can additionally purchase an Omni-microphone for improved performance. Before buying inform on which device you want to use the Omni-microphone. On Super-Beacon Omni-mic works in Omni mode on RX3 and RX4. On Super-Beacon-2 Omni-mic works in Omni mode on RX2 and RX3.
To turn on one of the mic in a specific pair press on a specific box below RX2…RX4 with CTRL: 169
9.5. Restart if modem is disconnected This feature using to reset beacon when it lost connection with modem. Follow this steps to switch on this feature. 9.5.1.Connect beacon via USB or radio and expand Misc. settings in settings bar: 9.5.2.Enable restart modem is disconnected option: 9.5.3.Put in a timeout of restart withoout mode in sec: 9.5.4.Restart if modem is disconected feature settings completed.
9.6. 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.
- Left Click on Zone type and choose Geofencing - Create a zone using Shift + Left Click and clicking on map, click on point removes it - You can tune zone with entering distance and entering time.
- After you Save and Close Zones setup window, zone turn to grey. Freeze map - Zone created and ready to work.
9.7. Geofencing alarm (MMSW0006 license) SW License MMSW006 activates support for a dedicated pin for geofencing zone violation. Instead of reading the stream of location data in the protocol, it is now possible to have just a pin from the 4X4 of Super-Beacon or pins on the modem or internal pins in the Mini-RX to be automatically switched to “0” or “1”, on every time reset, when the geofencing zone rules are violated. Supported hardware: - Super-Beacon - Modem v5.
9.7.1.2. Geofencing pin scheme for Modem HW v5.1: 9.7.1.3. Geofencing pin scheme for Mini-RX: 9.7.2.
9.7.3.Switch on Alarm pin function parameter: 9.7.4.Choose needed alarm pin mode according to a bellow table: Alarm pin mode Pin state with alarm Pin state without alarm Low level alarm +3.3V Z state High level alarm 0.0V Z state 9.7.5.Geofencing alarm settings completed.
9.8. PPS (Pulse per second) signal This feature using to get a pulse signal from Super-Beacon every second. Works with Super-Beacon in NIA only. To switch on PPS, follow instruction bellow: 9.8.1.Connect a speaker to Super-Beacon 4x4 pinout according to scheme: 9.8.2.Connect beacon via dashboard or radio and expand Interfaces in a settings bar: 9.8.3.Choose PPS output in PB$ pin function option: 9.8.4.PPS pin settings completed.
9.9. Floors feature (FN0011) 9.9.1. The general view Floor feature allows to build complicated multi-level maps. Every submap correspond some height, height corresponds to floors.
9.9.2. Floor Settings 179 - Every floor has its own adjustable height and its own floor plan - Right click 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:
9.9.3. Map layers The map consists of several layers. Each layer can be attached to other.
9.9.4. Loading the Floorplan (Substrate) 182 - Right 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.
- Right click to a floorplan area, to see an additional menu. Press “Glue floorplan to ether” to fix a position of floor plan according to map grid. - Right click to a beacon, to see an additional menu. Here you can nail beacon to a floorplan or an ether.
9.10. All hedgehogs update every cycle To use All hedgehogs update every cycle feature license MMSW 0004 (MF NIA) and MMSW0008 needed and Marvelmind SW from version 7.200 and latest. This feature gives simultaneous emission of all mobile beacons in MF NIA (to increase the update rate in cases where it is known that they won’t interfere with each other).
- Enable All hedgehogs update every cycle in the settings bar. Left mouse click on disabled (if feature switched off) - Now all mobile beacons update every cycle.
9.11. Filters Those features help to get more stable tracking and avoid “jumps” of the mobile beacons. 9.11.1. Spot filtering (for IA only) This feature using to filter mobile beacons “jumps” in Dashbord. This feature works from the Modem. How to use: - When Modem connected to PC, choose it in Dashboard and put a tick next to Spot filtering parameter. This is number of dots, when filter: 186 - Insert Samples number (minimum number of dots when filtering starts): - Insert Max.
9.11.2. Window of averaging (NIA only) Sliding window size averaging the position of mobile beacons. How to use: - Choose Modem when it connected to PC and insert Sliding window size in Window of averaging bar: Notice, when this feature is on, latency increases.
9.12. Submap Settings Every submap has its own settings.
9.13. Axis rotation feature (FN0002) 9.13.1. General view Axis extension enables rotation of the map. There are 90° gaps between views. It helps in case of multifloor tracking when it is important to have a side view. There are 3 directions of view: - To change view, click on the icon 9.13.2.
Z, X 190
9.14. Vertical submaps feature (FN0003) Vertical submap is a new feature for drone flights or some other specific cases.
9.14.1. How to build vertical submap for stable Z: 9.14.1.1. For this configuration you need 6 stationary beacons 9.14.1.2. Place 4 beacons on the ground, facing each other. (make a square, where the edge points are beacons, looking in the center) 9.14.1.3. Place two beacons high on a wall 9.14.1.4. Turn on RX4 only for beacons on the ground and RX4 and RX2 for beacons on the wall 9.14.1.5. Build the first submap (horizontal) consisting of all ground beacons 9.14.1.6.
9.14.1.13. Choose submap 2 and enable “Only for Z coordinates” mode 9.14.1.14. Change Limitation distance value 9.14.1.15. Change views and check the map 9.14.1.16. Wake up mobile beacon 9.14.1.17.
9.15. 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.
9.15.1. Starting submaps 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) 195 9.15.1.1. 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 9.15.1.2. Pressing the “+” button will add a new empty submap to the system 9.15.1.3.
9.15.1.6. Now we have 4 beacons, all in Submap0 (it can be seen near the table of distances) 9.15.1.7. With the submap selected, the context menu of beacons buttons (available by right clicking) have the functions of adding and removing the beacons from the submap. In the picture above, we are removing beacon 3 from Submap0.” Then we switch to Submap1 and add this beacon to the submap 9.15.1.8. When the submap is selected, the beacons that do not belong to the submap are colored gray.
9.15.1.12. Rotation of submap can be executed by using the mouse wheel. The mirroring button can also be used; it affects only submaps that are selected 9.15.1.13. After some movement, rotation, and mirroring of submaps, we can locate the submaps close to their real relative location 9.15.1.14. Now the system is ready to use; we can wake up and track the mobile hedgehog 9.15.1.15. In some cases, the hedgehog can be lost between the submaps if this area is not covered by any of the submaps. 9.15.1.16.
- Put M2 in mode on by clicking the icon. Place the hedgehog near the boundary between two submaps. You will see 2 red hedgehogs blinking, this is how the hedge is seen in two submaps - To align submaps correctly (CTRL + scroll/drag) against each other, until the red mobile beacons are fully overlapped - Replace hedgehog to 1 or 2 points and repeat replacing submap for better superposing - The next step is to set Service zones, which are zones where tracking is possible.
9.15.2. How to create a service zone: 199 9.15.2.1. Choose submap (click on the submap icon). 9.15.2.2. Use SHIFT + Left click on the map to create point. 9.15.2.3. Use SHIFT + Left click on the point to delete it. 9.15.2.4.
9.15.2.5. Put points around submap, move them to provide service area for current submap. Service areas will cross each other. If hedgehogs get lost between two submaps expand the service area.
9.16. Handover Zones Setting User must setup handover zones between submaps to guarantee handover quality for complex maps with multi-floor and similar.
9.17. Paired beacons (FN0005) Two hedgehogs can be paired and work together as a single beacon without update rate reduction. In this case you get mot only location, but direction too. 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. How to pair beacons: 9.17.1.
9.17.2. If you want to pair beacons via Radio do not connect beacons via anything and change “Communication in pair” on “via radio” later after point 7.12.6 (Note: If the distance between beacons is less than 1 meter it would be probably necessary to change in “Parameters of radio” the parameter “Power of TX” for less value. Otherwise, the signal probably would be too strong). Only applicable to NIA 9.17.3. Wake up stationary beacons and freeze the map 9.17.4.
9.18. Paired microphones You can also connect additional microphone and turn on “Paired microphones” mode to get the direction without taking a second beacon (Only for IA). How to pair microphones: 9.18.1. 7.14.1 Choose beacon in the beacon panel 9.18.2. additionally 7.14.2 Turn on the microphone which you connected 9.18.3. 7.14.3 Open “Hedgehogs pairing” 9.18.4. 7.14.
9.19. Map settings Map Settings offer some helpful tools: - 205 Save map – saves map as .ini file into Dashboard folder/maps Load map – loads map from .
9.20. 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.
9.21.
- Choose any color which suits you and press OK - Now, the hedgehog and its tracking path will be colored - 209
9.22. 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. - Additionally, with the MMSW0005 license the hedgehog payload is recorded in CSV format.
9.23. 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). 9.23.1. Setup IMU feature Accelerometer calibration Required: - Starter set Hedgehog with IMU SW and firmware version 5.85 or newer Ultrasound Update rate 4Hz or higher Before you start use the feature check whether accelerometer has been calibrated - 211 - 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 the hedgehog click Pause - Accelerometer calibrator will choose the best value for each axe.
9.23.2. Using Data in the Python Library Example Description of the protocol for streaming data: (link) To work with data, you need to use some ready-made library, or develop your own software tools that can work with the described protocol. Our company provides ready-made libraries for working with IMU in the following languages: - python (link) c ++ (link) java (link) An example with 3D imaging of a path on IMU with a frequency of 100Hz in real time, here: https://marvelmind.
9.24. IMU axis positioning Super-Beacon IMU axis positions HW v4.
Mini-TX IMU axis positions Mini-RX beacon IMU axis positions 215
9.25. 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. Starting with Dashboard v6.240, log files writes in .csv format How to use Player: - Go to File=>Player This is how the starting player menu looks like Select log – opens save log file Play – launch the playback 216 - Click Select log button and choose the file - Now log is loaded.
At the top of the player you can see 7 outputs: Currently playing time Select log file Start of Log time End of Log time Start of Playback Play/pause button End of Playback Close player button Limited area - distance between black triangles under slider. You can move triangles and zoom, place cursor on the slider + mouse wheel.
9.26. 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.
- 219 Real-time player turned on
9.27. 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.
10. Interfaces Indoor “GPS” system supports many external interfaces that can feed measured location data to an external system (robot, copter, VR, etc.).
10.1.
10.2. Beacon HW v4.
10.3. Modem HW v4.
10.4. 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.
11. 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.
11.1. Radio Profiles compatibility In this section we present different HW versions of different products 38 Kbps 100 Kbps 400 Kbps * Modem HW v4.9 Supports Supports Doesn’t Support** Supports Modem HW v5.1 Supports Supports Supports Supports Modem HW v5.
Examples of different configurations Starter Sets consist of different devices, so you check what types of devices you have and it will depend on which radio profiles you can use Example 1 – Modem HW v5.1 and Super-Beacon-2 38 Kbps 100 Kbps 400 Kbps * 500 Kbps Modem HW v5.1 Supports Supports Supports Supports Super-Beacon-2 Supports Supports Supports Supports From this table we can see that in this configuration you can use all profiles, because both devices support them.
11.2. Wi-Fi settings for Super-Modem You can use Wi-Fi for coordinate streaming to other PC. In this chapter we explain how to do that. 11.2.1. Wi-Fi settings menu in Dashboard 229 - When Super-Modem connected to PC via USB, expand “Wi-Fi/UDP settings” in settings bar.
- After this, “Wi-Fi/UPD settings” bar turns to green and shows your network name. - Insert UDP destination IP address and UDP destination port of device to which you will stream coordinates and press write button. - Wi-Fi settings completed.
11.2.2. Static IP 231 - When Wi-Fi enabled, enable Static IP and wait around 10 sec: - Enter IP address in IPv4 format (An IPv4 address has the following format: x . x . x . x where x is called an octet and must be a decimal value between 0 and 255.) and IP address of router that using for Wi-Fi connection.
- If everything done correctly, Own IP address will change: - Static IP settings completed.
11.3. Building big maps in Inverse Architecture (IA) This chapter is applicable only for Inverse Architecture 11.3.1. 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.
11.3.2. 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.
11.3.3. TDMA Type 2 - Full-overlapping submaps 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 Stationary beacons should have different frequencies When you work with two TDMA submaps, update rate reduces twice. 11.3.4. Mount stationary beacons in according to the TDMA chapters in Placement manual. 11.3.5. Wake up beacons included in Submap0.
11.3.7. If submaps with the same set of frequencies intersect, it is necessary to use TDMA.
How to change modes: 238 - Choose hedge - Go to Ultrasound -> TDMA mode - Left Click to change
11.4.
11.5.
- 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 - Complete.
11.6. 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.
11.7. 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. Type the reference beacon number and press Enter Echo External noises look similarly.
11.8. Proper Ultrasonic Signal Detection This chapter mostly related to HW v4.9 beacons. Super-Beacons, Industrial SuperBeacons 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.
11.9. Using hedgehog.log file 245 - 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.
11.10. 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.
11.11. Calibration of the accelerometer To calibrate an accelerometer on your beacon with IMU, you can do the following steps: 247 - 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).
- When calibrating, it measures the data of the free fall (gravity of the Earth) corresponding to each of the three axes X, Y, Z.
11.12. 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.
11.13. 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.
11.14. Sending path to robot You can send the path for your robot via Dashboard - 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: - 251 Modem transmits data to the hedgehog via radio, using our proprietary protocol https://marvelmind.com/pics/modem_usb_protocol.
- 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.
How to send a path: 253 1) Set up the Marvelmind Indoor “GPS” system. 2) Turn on Boxie and wait for 1 minute 3) Configurate paths and points (Use Shift+Left mouse button click to create point, click on point – to remove): 4) Press “Run”. Robot will follow the path that you draw: 5) If you put a tick on “Run forever”.
11.15. 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.
11.16. 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.
11.17.
11.18. Power supply and Leds - Modem doesn’t have battery, so power supply led is always on, when Modem connect to computer. - Power supply led for battery (for Super-Beacons, Beacons HW v.4.9 and Mini-RX Beacons) is on, when battery is charging and is off when battery isn’t charging. Battery stops charging when fully charged, when this happens, led goes out. So, led turns off and on periodically, what means that beacon fully charged and led turns on again when battery drops a few millivolts.
12. 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.
13. Troubleshooting checklist If you have any problems with the system, follow these simple steps: - 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.
13.1. 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.
14. Contacts For more information about company check: About us For additional support, please send your questions to info@marvelmind.
