Operating Manual

4
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.
The navigation system consists of a network of stationary ultrasonic beacons
interconnected via radio interface in a license-free band, one or more mobile
beacons installed on objects to be tracked and modem providing gateway to the
system from PC or other computers.
Mobile beacon’s location is calculated based on a propagation delay of an ultrasonic
pulses (Time-Of-Flight or TOF) between stationary and mobile beacons using
trilateration algorithm.
The system can build the map of stationary beacons automatically (For Non-Inverse
Architecture). In simple cases, no additional manual data input or any manual
distance measurements are required. This map formed once can be frozen and
stored in modem’s memory and the system becomes fully active within 7 to 10
seconds after the modem is powered.
Minimum configuration requirements (Non-Inverse Architecture) to ensure optimal
performance of the Marvelmind Indoor Navigation System:
- For 3D (X, Y, Z) tracking: an unobstructed line of sight (hearing) between
a mobile beacon and 3 or more stationary beacons within 30 meters
- For 2D (X, Y) tracking - an unobstructed line of sight (hearing) between a
mobile beacon and 2 or more stationary beacons within 30 meters
Fig. 1: Example of starter set based on Super-beacons