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Marvelmind Super-MP-3D Operating Manual

Indoor navigation system
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Marvelmind Indoor Navigation System
Operating manual
v2022_08_24
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  • Page 1 Marvelmind Indoor Navigation System Operating manual v2022_08_24 www.marvelmind.com...

  • Page 2: Table Of Contents

    1.2. Legend ............................15 Basics of the system ........................16 What’s in the box ........................16 2.1. 2.1.1. Starter Set Super-MP-3D:....................16 2.1.2. Starter Set IA-04-2D-Badge: ....................16 2.2. Indoor Navigation System architectures ................... 17 Architectures’ elements ......................19 2.3.
  • Page 3 DIP switch position for work and HEX programming ............80 6.2.3. DIP switch position for DFU programming ................80 6.3. Starter Set Super-MP-3D (NIA and IA) ..................81 6.4. Starter Set HW v4.9 ........................92 6.5. Starter Set NIA-SmallDrone ....................100 6.6.
  • Page 4 9.3. Dashboard Monitoring Mode ....................166 9.4. Microphone settings ........................ 167 9.4.1. Specific Marvelmind devices ..................... 167 9.4.2. Separate Omni-microphone....................168 9.5. Restart if modem is disconnected ................... 170 9.6. Geofencing zones ........................171 9.7. Geofencing alarm (MMSW0006 license) ................174 9.8.
  • Page 5 11.10. System Accuracy Evaluation ....................246 11.11. Calibration of the accelerometer ..................... 247 11.12. Settings to obtain correct north direction ................249 11.13. Communication of Pixhawk with Marvelmind mobile beacon ..........250 11.14. Sending path to robot ......................251 11.15. Proper ultrasonic coverage ....................254 11.16.
  • Page 6 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...
  • Page 7 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...
  • Page 8 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”...
  • Page 9 Industrial beacons’ transmitting/reception diagram described Minor fixes and improvements V2020_07_15 Mini-RX internal solderable pinouts Minor fixes and improvements 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...
  • Page 10 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...
  • Page 11 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...
  • Page 12 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...

  • Page 13: Executive Summary

    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.

  • Page 14: Key Capabilities

    1.1. Key capabilities: Parameter Technical Specifications Distance between Reaches up to 50 meters and up to 100 meters with horn under laboratory conditions (Mini- beacons RX or Super-Beacon to Super-Beacon with RX4 only) Recommended distance is 30 meters (Transducer4 on the first beacon is looking straight at the Transducer4 on the second beacon, other transducers are switched off) Coverage area Reaches up to 1000m...

  • Page 15: Legend

    1.2. Legend Legend chapter contains small icons and signs to highlight some key points of the text. Important For experienced users Demo or Help video Useful link...

  • Page 16: Basics Of The System

    Here are examples of the Starter Sets What’s in the box 2.1. 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 Modem v5.1...

  • Page 17: Indoor Navigation System Architectures

    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. IA and NIA SW differs...
  • Page 18 Here is a tutorial video about architectures: Help: Inverse Architectures (IA) vs. Non-Inverse Architectures (NIA)

  • Page 19: Architectures' Elements

    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. Handover zone (marked blue) Mobile beacon Service zone Submap0 Service zone Submap1 Stationary beacon...

  • Page 20: Indoor "Gps" System Close-Up And Internal View

    Indoor “GPS” System close-up and internal view 2.4. Here, you can see how system elements look like Super-Beacon: Modem HW v5.1: Beacon Mini-RX:...
  • Page 21 Beacon Mini-TX: Beacon Industrial-RX: Beacon Industrial-TX-Metal:...
  • Page 22 Industrial Super-Beacon-Plastic:...

  • Page 23: System Elements

    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. General app for SW update and initial setting up the system Contains a lot of tracking display features Very deep tuning and setting abilities All new features available in the Dashboard app...

  • Page 24: Stationary Beacon

    3.2. 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. However, for automatic landing and indoor navigation of copters, for example, it is recommended to install mobile beacon horizontally on the belly of the copter so that the beacon would be looking downwards...

  • Page 25: Mobile Beacon A.k.a. "Hedgehog

    Mobile beacon a.k.a. “hedgehog” 3.3. 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.

  • Page 26: Modem

    3.4. 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. A USB power bank can also be used The modem is also used to set up the system, monitor it, and interact with the Dashboard...

  • Page 27: Different Types Of Modems

    3.5. Different types of modems There are 3 types of Marvelmind modems: – newest and mostly use version of modem. Modem HW v5.1 – old version of Modem HW v5.1. out of production, get bug- Modem HW v 4.9 fixing SW update only Super-Modem - is a superior version of the Modem HW v4.9 and Modem HW...
  • Page 28 Exactly the same mounting holes as for Industrial beacons No battery inside – external power supply (+6..17V) required (for example, https://marvelmind.com/product/converter-220v-12v-ip67/). External battery is not practical for long-term due to relatively high and constant power consumption of 1.5- For optional IP67 version – extended working temperature range: -40C…+50C (provided by design –...

  • Page 29: Modem Hw V5.1

    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...

  • Page 30: Modem Hw V4.9

    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 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...

  • Page 31: Different Types Of Beacons

    Super-Beacon – can receive and transmit ultrasound, using in most cases. Could be made in Outdoor modification. Industrial Beacons – suitable for huge manufacturing and outdoor installations. Here you can see more details about the different types of beacons: https://marvelmind.com/pics/marvelmind_beacons_comparison.pdf...

  • Page 32: Super-Beacon

    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 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).
  • Page 33 Figure 3: Transmitting diagram (with Figure 2: Transmitting diagram (with ultrasound transmitters) ultrasound transmitters) Figure 5: Receiving diagram (with digital Figure 4: Receiving diagram (with digital microphone) 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.
  • Page 34 The equipment should be installed and operated with minimum distance 20cm between the radiator & your body.
  • Page 35 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 Omni-Microphone-IP67...
  • Page 36 Figure 2: Super-Beacon with two External Microphones connected Figure 3: Super-Beacon with Omni...
  • Page 37 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. Be careful: You should have soldering skills to solder Omni Microphone on board Figure 4: Omni-Microphone connection for Super-Beacon Figure 5: Omni-Microphone connection for Super-Beacon-2 and Super-Beacon-3...
  • Page 38 3.6.1.3. External microphones schemes: There can be some beacons (from one of the batches) with mixed default microphone wires’ colors Figure 6: Connection for beacon with switched blue and yellow wires...
  • Page 39 Figure 7: One External Microphone connection Figure 8: Two External Microphone connection...

  • Page 40: Beacon Mini-Rx

    Supports 868/915MHz radio only Light weighted Can be water-protected The component of the Marvelmind Helmet Marvelmind Watch It has 360° reception angle (horizontally) and 180° reception angle (vertically) Reception diagram. Digital microphone has about 360° (horizontally) and 180° (vertically) reception angle Mini-RX beacon may be over discharged.
  • Page 41 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)
  • Page 42 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.
  • Page 43 3.6.2.3. Dual microphones modification: External Microphone 1 Robot’s head Mini-RX beacon hidden External Microphone 2 inside 47mm 210mm Figure 1: One external microphone with housing Figure 2: Two external microphones with housing...
  • Page 44 Figure 3: One external microphone soldering Figure 4: Two external microphones soldering...
  • Page 45 3.6.2.4. External microphones schemes: Figure 5: One External Microphone connection Figure 6: Two External Microphones connection...
  • Page 46 Figure 7: Two External Microphones final view Figure 8: Two External Microphones final view...

  • Page 47: Beacon Mini-Tx

    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: 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.

  • Page 48: Beacon Industrial-Tx-Metal

    3.6.4. Beacon Industrial-TX-Metal Do not disassemble the Industrial beacons. Otherwise, warranty will be lost – TX-only beacon transmit ultrasonic, but can’t receive it Electronics is IP67 protected Special IP67-protected 25kHz transducers External antenna with SMA connector for extended radio range Corresponding IP67 connectors (male part) included No battery inside...
  • Page 49 CAN modification pinouts Can work with any Mini-RX beacon or Beacon HW v4.9 with 25kHz ultrasonic sensors (radio bands must match) 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...

  • Page 50: Beacon Industrial-Rx

    3.6.5. Beacon Industrial-RX Do not disassemble the Industrial beacons. Otherwise, warranty will be lost – RX-only beacon 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 –...
  • Page 51 RS485 modification pinouts (Before Sep.2019) CAN modification pinouts Extended working temperature range from -40°C to +50°C (not tested, provided by design) – only for the version without battery Embedded reset switch and DFU switch – magnetic control Supports wide range of ultrasonic frequencies: 19/22/25/28/31/34/37/45kHz Most of all designed to work together with Outdoor versions of Mini-RX beacons...
  • Page 52 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.

  • Page 53: Industrial Super-Beacon Metal-25Khz

    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 ultrasonic frequency embedded RX sensor – like Industrial- RX or Mini-RX does.
  • Page 54 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 Super- Beacon hardware make permanently damage for Industrial Super-Beacon board.

  • Page 55: Beacon Hw V4.9

    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. Each sensor has about 90° reception angle: Figure 1: Transmitting diagram (with sensors) Figure 2: Transmitting diagram (with sensors)

  • Page 56: Software Pack

    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 7.200): The SW files for beacons/modems that don’t require an update with the new release won’t be replaced with the new files in the new SW pack.

  • Page 57: Download And Open

    => https://marvelmind.com/download/ and download the latest Marvelmind SW pack 4.1.2. Unzip pack and open a folder Folder with Marvelmind API library and C example Folder with Dashboard software Folder with documentation Folder with misc sample code Folder with software for modem and beacons...

  • Page 58: Dashboard Folder

    4.2. Dashboard folder In this folder you can find all modifications of Dashboard. Folder with Dashboard for Linux Folder with Dashboard for Windows...

  • Page 59: 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: Starter Set IA-04-2D-Badge Starter Set Super-MP-3D in Inverse Architecture Badge: For Beacon HW 4.9 in IA:...
  • Page 60 For Helmet For Industrial Super-Beacons* (watch the next page to learn more about Industrial- Beacons types) For Jacket (IA) For Modem HW v4.9: For Modem HW v5.1: For Super-Beacon (IA): For Watch...

  • Page 61: Types Of Industrial-Super-Beacons

    4.3.1. Types of Industrial-Super-Beacons: Beacon Industrial-RX: Industrial Super-Beacon Metal-25kHz: Industrial Super-Beacon-Plastic:...

  • Page 62: Software Nia Folder

    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: Starter Set HW v4.9-NIA: Starter Set NIA-SmallDrone: Starter Set Industrial-NIA-01: Starter Set Super-MP-3D in NIA:...
  • Page 63 For Beacon HW 4.5 For Beacon HW 4.9 NIA: For Beacon Mini-RX: For Beacon Mini-TX: For Industrial Beacons: For Modem HW v4.9: For Modem HW v5.1: For Super-Beacon (NIA):...

  • Page 64: Super-Modem Folder

    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.

  • Page 65: Sw Settings Descriptions

    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.

  • Page 66: How To Update Super-Modem (For Sw Version From V7.000)

    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. 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 There are two Firmware versions –...
  • Page 67 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 Super- Modem_low_level_SW 5.1.2.6. Press Default button after flashing of both levels. 5.1.2.7. Firmware update successfully completed.

  • Page 68: 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 page). If not – update the software as described below Downloads Follow the steps below to update Super-Modem’s SW.

  • Page 69: Super-Modem's Configuration

    Marvelmind page). If not – update the software as described below Downloads 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. To modify these files, you need to:...
  • Page 70 – 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.zip...

  • Page 71: Sw Update (Usb/Radio/Dfu)

    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.
  • Page 72 Choose .hex SW file for your device (Be careful with IA and NIA architectures, do not mix 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.

  • Page 73: Sw Update Via Radio

    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. Pros: Allows you to keep your system in its place and update SW remotely Cons: Not as fast as USB SW update How to:...

  • Page 74: Sw Update Via Dfu Programming

    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 –...
  • Page 75 Mini-TX beacon: Reset button (on the other side) Disassemble 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 Magnetic DFU switch side Industrial Super-Beacon Metal-25kHz: Magnetic Reset side Magnetic DFU switch side...
  • Page 76 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 v4.9: Hardware Reset button (on side) DFU mode pins Super-Modem: Magnetic Reset side...
  • Page 77 DFU Programming process: Enter device into DFU Mode: For regular and non-Industrial versions of beacons – switch DIP switches into positions shown on the picture (both up) and press the Reset button – device will go into DFU mode For Industrial versions of beacon and Super-Modem – attach one magnet to the DFU switch side, and attach for 1 second the second magnet to the Reset side of the device –...
  • Page 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 –...

  • Page 79: Setting Up The System

    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 Check: 8 basic steps from unpacking to autonomous drive/flight Step-by-step guide on how to build complex maps...

  • Page 80: Dip Switch Positions

    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.

  • Page 81: Starter Set Super-Mp-3D (Nia And Ia)

    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 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.
  • Page 82 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.
  • Page 83 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"...
  • Page 84 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.
  • Page 85 Write down the beacon’s address for future use or change the address 6.3.15. 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.
  • Page 86 Side view of 2D configuration: Stationary beacon Stationary beacon Mobile beacon Modem beacon Top view of 2D configuration: ≈6-10m More information about placement you can find in Placement Manual...
  • Page 87 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.
  • Page 88 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).
  • Page 89 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 –...
  • Page 90 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 If you see on the devices’ panel in the Dashboard that the beacon is 6.3.36. colored orange, it means there are some differences in some of the settings between beacons.
  • Page 91 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.com/watch?v=NHUnCtJIYXc)

  • Page 92: Starter Set Hw V4.9

    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.
  • Page 93 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 6.4.5.1.
  • Page 94 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.
  • Page 95 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.
  • Page 96 Side view of 2D configuration: Stationary beacon Stationary beacon Mobile beacon Modem beacon 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.
  • Page 97 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.
  • Page 98 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 –...
  • Page 99 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.com/watch?v=NHUnCtJIYXc)

  • Page 100: Starter Set Nia-Smalldrone

    6.5. Starter Set NIA-SmallDrone The steps below describe the very first time you set up the system. Super-Beacon, Mini- TX 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.
  • Page 101 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.
  • Page 102 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.
  • Page 103 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.
  • Page 104 Write down the beacon’s address for future use or change the address 6.5.7. 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.
  • Page 105 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.
  • Page 106 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.
  • Page 107 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.
  • Page 108 If you see on the devices’ panel in the Dashboard that the beacon is 6.5.25. 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.

  • Page 109: Starter Set Industrial-Nia-01

    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.
  • Page 110 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.
  • Page 111 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 DfuSe v3.0.6 DFU Programming: Uploading Beacon Industrial’s (Not super) DFU software to Industrial Super- Beacon hardware make permanently damage for Industrial Super-Beacon board. Be double attentive with update 6.6.5.1.
  • Page 112 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.
  • Page 113 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.
  • Page 114 Write down the beacon’s address for future use or change the address 6.6.8. 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.
  • Page 115 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.
  • Page 116 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.
  • Page 117 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.
  • Page 118 6.6.28. The system is now fully operational...

  • Page 119: Dashboard Menu And Parameters

    Dashboard menu and Parameters 7.1. Dashboard general view This picture shows the Dashboard’s general interface and items’ positions Diagnostics messages Visualization Table of window Modem/beacon’s window distances settings bar Ceiling and Visualization mirroring buttons settings Modem GPS/Robots/Workers Modem/beacon’s Devices list quick control panel Map settings...

  • Page 120: Diagnostics Messages Window

    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.
  • Page 121 Error writing super modem network settings Not found UWB device - connect UWB beacon or UWB modem to modem HW v5.1 (only for Marvelmind UWB devices. In progress) Single hedge readout per cycle - increase the value and refreeze the map - In IA, in the modem settings, the number of transmitted coordinates of hedgehogs per cycle 1 is entered.
  • Page 122 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. Can't move Can't move submap - beacons n10, n11 are nailed to floorplan Can't move submap - beacons n10, n11 are fixed Can't rotate submap - beacons n10, n11 are nailed to floorplan Can't rotate submap - beacons n10, n11 are fixed...

  • Page 123: Table Of Distances

    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...
  • Page 124 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.

  • Page 125: Devices List

    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.

  • Page 126: Visualization Settings

    7.5. Visualization settings Visualization settings window has some functions to control visualization process: Clear map – clear all movement path Dots timeout – time of path’s existence (Video: Help: Dots timeout) Dots size mode – size of dots Save screenshot – files save to Dashboard’s folder/screenshots Freeze screen –...

  • Page 127: Map Settings

    7.6. Map Settings Map Settings offer some helpful tools: Save map – saves map as .ini file into Dashboard folder/maps Load map – loads map from .ini format file Erase map – erases map and clears it New/merge – build new map or upgrade current map...

  • Page 128: Modem/Beacon's Quick Control Panel

    Modem/beacon’s quick control panel 7.7. Control panel allows user to interact with devices. It can work with one device, or with all devices in the system. List of functions: Reset – Resets device Sleep – Send device asleep (battery economy mode) Wake up –...

  • Page 129: Celling And Mirroring Buttons On The Dashboard

    7.8. Celling and Mirroring buttons on the Dashboard The Mirroring button allows the map to be display as a mirror reflection The Ceiling button shows where the mobile beacon is located with respect to the stationary beacons When the arrow points up, it means that the mobile beacon is below the stationary beacons When the arrow points down, it means that the mobile beacon is above the stationary beacons The Center Map button...

  • Page 130: Detailed Settings

    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 –...
  • Page 131 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 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”...
  • Page 132 7.9.1.2. Advanced settings If modem lost connection it restarts by itself...
  • Page 133 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.
  • Page 134 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.
  • Page 135 7.9.1.4. Interfaces Speed of UART Type of protocol Enable or disable receiving raw IMU data with IMU update rate (100Hz)

  • Page 136: Beacon's Settings

    7.9.2. Beacon’s settings Unique CPU ID 7.9.2.1. Basic settings Firmware version of device (beacon or modem) 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”...
  • Page 137 Selected radio channel Selected device’s address Height – must be set for stationary beacons. Must also be set for mobile beacons in 1D or 2D modes Processor’s crystal’s temperature Frequency of ultrasonic pulses – set according to your HW...
  • Page 138 7.9.2.2. 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...
  • Page 139 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.
  • Page 140 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.
  • Page 141 7.9.2.4. Ultrasound TX-RX – regular mode. Use it. The rest - internal Power saving features. If not sure, keep default Power saving features. If not sure, keep default 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.
  • Page 142 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.
  • Page 143 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. For special cases only...
  • Page 144 Deep AGC settings. For special cases only Deep AGC settings. For special cases only Deep AGC settings. For special cases only Deep AGC settings. For special cases only Enable/disable sensor RX1 in map building mode Enable/disable sensor RX2 in map building mode...
  • Page 145 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...
  • Page 146 7.9.2.5. Interfaces Speed of UART in hedgehog mode Type of protocol 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.
  • Page 147 7.9.2.8. Hedgehogs pairing Enable for Paired Beacons feature: https://youtu.be/aBWUALT3WTQ Also look at chapter 6.13 Activate this parameter to pair beacons Address of the beacon, current selected hedgehog paired with Location against center of selected beacon in a pair Actual distance between paired hedgehogs...

  • Page 148: Radio Frequency Band And Carrier Frequency

    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.

  • Page 149: Different Hedgehog Colors In The Dashboard

    7.11. Different hedgehog colors in the Dashboard You can choose any color for your hedge, but it still has some permanent colors, which inform you about some tracking issues: Blue - normal mode and confident tracking Orange - system provides the best location data possible, but confidence is lower than blue Transparent Blue - lost radio packets...

  • Page 150: Different Beacons' Colors In The Dashboard

    7.12. Different beacons’ colors in the Dashboard Beacons can have different ultrasonic frequency. Because of that, they have different colors to make them easier to distinguish: Stationary beacons – Green center – Mobile beacons – Dark blue center – Examples: Stationary beacons: 19KHz beacon 22kHz...

  • Page 151: 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.

  • Page 152: Map Layers

    8.2. Map layers The map consists of several layers. Each layer can be attached to other. 4) Service zones 3) Beacons and Submaps 2) Floorplan – plan/scheme/picture of a floor where you placed beacons 1) Ether – map grid...

  • Page 153: The Submap

    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.

  • Page 154: Submaps' Service Zones

    Submaps’ service zones 8.4. 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.

  • Page 155: Handover Zones

    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) 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.
  • Page 156 Example 2: Small handover zone: Hedge made 2-3 updates – MAY BE NOT ENOUGH Example 3: Very small handover zone: Hedge made 1-2 updates – NOT ENOUGH...
  • Page 157 Example 4: No handover zone: Service zones not cross – NO HANDOVER ZONE CREATED, NO HANDOVER BETWEEN SUBMAPS...

  • Page 158: Beacons' Ultrasonic Frequencies

    Beacons’ ultrasonic frequencies 8.6. Beacons may have different ultrasonic frequencies in the System. It can be used for different aims and different cases. In IA it’s necessary to have stationary Please notice that is hardware defined and cannot be just changed via settings in the Dashboard Different frequencies can be used: In IA as a basic rule of Inverse Architecture’s functionality...

  • Page 159: Features

    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 ->...
  • Page 160 Choose the licenses which you have purchased. Press Order licenses. 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 device to the Dashboard via USB Go to Licenses →...

  • Page 161: License Mmsw0005 Designation In Dashboard

    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.

  • Page 162: Islands Feature

    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...
  • Page 163 Move submaps as you wish. Use CTRL and mouse roll to rotate Submap. Awake mobile beacons. It will apeare in a map.
  • Page 164 If license activated correctly, with selected modem you can select the “islands” mode and assign mobile beacons to submaps. Enable Submaps islands When Submaps Islans mode enabled, you can choose submap for each beacon...
  • Page 165 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.

  • Page 166: Dashboard Monitoring Mode

    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.

  • Page 167: Microphone Settings

    For different devices should be turned on different mics. :Turn on mic by clicking on RX1…RX4 :Change mode of mics by clicking on bottom panel Below is the picture of microphone settings: Below are presented settings for different Marvelmind devices: Badge: Jacket: Helmet:...

  • Page 168: Separate Omni-Microphone

    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. Below is location of different mics on the Omni-mic: Example of correct settings for Omni-mic on Super-Beacon-2 in Omni mode: Also, if you want to use specific microphone on Omni-mic you can switch mode to Stereo...
  • Page 169 To turn on one of the mic in a specific pair press on a specific box below RX2…RX4 with CTRL:...

  • Page 170: Restart If Modem Is Disconnected

    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.

  • Page 171: Geofencing Zones

    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. How to create geofencing zone: Unfreeze map, submap may be frozen Right click on the map ->...
  • Page 172 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. If zone created, press Save and close to save zone...
  • Page 173 After you Save and Close Zones setup window, zone turn to grey. Freeze map Zone created and ready to work. If mobile beacon crosses zone for tuned distance and tuned time, that violation will be recorded to CSV-file, and hedgehog will be colored in the Dashboard...

  • Page 174: Geofencing Alarm (Mmsw0006 License)

    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”...
  • Page 175 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. Connect beacon via dashboard or radio and expand Interfaces in a settings bar:...
  • Page 176 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.

  • Page 177: Pps (Pulse Per Second) Signal

    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.

  • Page 178: Floors Feature (Fn0011)

    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. List of layers (floors) Show all layers (floors) Show no layers (floors) Show all objects (even if they are out of floors’ coordinates) Active beacons...

  • Page 179: Floor Settings

    9.9.2. Floor Settings 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, .tiff) Floor 4 and 5 are enabled:...
  • Page 180 Floor 5 is enabled: Floor 4 is enabled:...

  • Page 181: Map Layers

    9.9.3. Map layers The map consists of several layers. Each layer can be attached to other. 5) Service zones 4) Beacons and Submaps 3) Floorplan – plan/scheme/picture of a floor where you placed beacons 2) Ether – map grid...

  • Page 182: Loading The Floorplan (Substrate)

    9.9.4. Loading the Floorplan (Substrate) 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.com/watch?v=NHUnCtJIYXc...
  • Page 183 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.

  • Page 184: All Hedgehogs Update Every Cycle

    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).
  • Page 185 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.

  • Page 186: Filters

    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.

  • Page 187: Window Of Averaging (Nia Only)

    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.

  • Page 188: Submap Settings

    9.12. Submap Settings Every submap has its own settings. Which beacon will have origin (0; 0; 0) coordinates Addresses of beacons which are building this submap 3D (X; Y; Z) Tracking mode for this submap To enable “Vertical submap for stable Z”...

  • Page 189: Axis Rotation Feature (Fn0002)

    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.
  • Page 190 Z, X...

  • Page 191: Vertical Submaps Feature (Fn0003)

    9.14. 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...

  • Page 192: How To Build Vertical Submap For Stable Z

    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.
  • Page 193 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. Track...

  • Page 194: Submaps Feature (Fn0004)

    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...

  • Page 195: Starting Submaps

    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) 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 Pressing the “+”...
  • Page 196 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.
  • Page 197 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.
  • Page 198 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...

  • Page 199: How To Create A Service Zone

    9.15.2. How to create a service zone: 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. Use Right click on the point and choose “Clear all points” to delete 9.15.2.4.
  • Page 200 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. Learn more: How to define and edit service zones - How to define and edit service zones, full instruction Help: submaps, service zones, handover zones...

  • Page 201: Handover Zones Setting

    9.16. Handover Zones Setting User must setup handover zones between submaps to guarantee handover quality for complex maps with multi-floor and similar. How to setup handover zones: Choose any submap Use Alt + Left Click on the other submap’s service zone border (neighboring) Now, neighboring service zones are colored with green (dark green for chosen submap and light green for neighboring submaps) Alt + Left click...

  • Page 202: Paired Beacons (Fn0005)

    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.
  • Page 203 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”...

  • Page 204: Paired Microphones

    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. 7.14.2 Turn on the microphone which you connected additionally 7.14.3 Open “Hedgehogs pairing”...

  • Page 205: Map Settings

    9.19. Map settings Map Settings offer some helpful tools: Save map – saves map as .ini file into Dashboard folder/maps Load map – loads map from .ini format file Erase map – erases map and clears it...

  • Page 206: Background Color

    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. How to choose background color: Load floorplan Right click on the background...
  • Page 207 Choose color and press “OK” Color applied. Now, background matches floorplan...

  • Page 208: Hedge Color Change (Fn0006)

    9.21. Hedge color change (FN0006) If you have multiple mobile beacons, you can give each one its own color to make them recognizable on the map How to change hedgehog color: Right click on the hedge in the list of devices -> Setup color...
  • Page 209 Choose any color which suits you and press OK Now, the hedgehog and its tracking path will be colored...

  • Page 210: Payload Streaming (Fn0007)

    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.

  • Page 211: Imu Feature (Fn0008)

    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...
  • Page 212 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.

  • Page 213: Using Data In The Python Library Example

    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.com/pics/marvelmind-imu-tracker.zip...

  • Page 214: Imu Axis Positioning

    9.24. IMU axis positioning Super-Beacon IMU axis positions HW v4.9 IMU axis positions...
  • Page 215 Mini-TX IMU axis positions Mini-RX beacon IMU axis positions...

  • Page 216: Player Feature (Fn0009)

    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...
  • Page 217 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 End of Playback Play/pause button Close player button Limited area - distance between black triangles under slider. You can move triangles and zoom, place cursor on the slider + mouse wheel.

  • Page 218: Real-Time Player Feature (Fn0010)

    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. Real-time player turned on by default You can turn it off if you need less delay You can tune it whether you need: Backward –...
  • Page 219 Real-time player turned on...

  • Page 220: Csv Format

    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 1970.01.01) - time from previous record in milliseconds - time from running dashboard in milliseconds - address of hedgehog - X coordinate of hedgehog, meters...

  • Page 221: Interfaces

    If you need an old streaming format with local timestamps for compatibility with older software, you can disable this option in the device settings in the dashboard: A list of the supported interfaces is shown below. More information on the interfaces can be found here: https://marvelmind.com/pics/marvelmind_interfaces.pdf...

  • Page 222: Super-Beacon External Interface Pinout Top View

    10.1. Super-beacon external interface pinout top view 4x4 pinout for Super-Beacon: 4x4 pinout for Super-Beacon-2:...

  • Page 223: Beacon Hw V4.9 External Interface 4X4 Pinout Top View

    10.2. Beacon HW v4.9 external interface 4x4 pinout top view...

  • Page 224: Modem Hw V4.9 External Interface Pinout Top View

    10.3. Modem HW v4.9 external interface pinout top view...

  • Page 225: Mini-Rx Internal Solderable Pinouts (For Experienced Users Only)

    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.

  • Page 226: Advanced System Settings And Optimization

    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.

  • Page 227: Radio Profiles Compatibility

    11.1. Radio Profiles compatibility In this section we present different HW versions of different products 38 Kbps 100 Kbps 400 Kbps * 500 Kbps Doesn’t Support** Modem HW v4.9 Supports Supports Supports Modem HW v5.1 Supports Supports Supports Supports Doesn’t Support** Doesn’t Support** Modem HW v5.1-3 Supports...

  • Page 228: Examples Of Different Configurations

    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...

  • Page 229: Wi-Fi Settings For Super-Modem

    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 When Super-Modem connected to PC via USB, expand “Wi-Fi/UDP settings” in settings bar.
  • Page 230 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.

  • Page 231: Static Ip

    11.2.2. Static IP 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.
  • Page 232 If everything done correctly, Own IP address will change: Static IP settings completed.

  • Page 233: Building Big Maps In Inverse Architecture (Ia)

    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.

  • Page 234: Tdma Sequence

    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.
  • Page 235 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.

  • Page 236: Tdma Type 2 - Full-Overlapping Submaps

    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.
  • Page 237 11.3.7. If submaps with the same set of frequencies intersect, it is necessary to use TDMA. (This is the mode of sequential radiation, when for each stationary beacon the number of the cycle in which it should emit and the number of cycles of radiation after which these numbers are repeated is set) For example, in the room there are beacons 19kHz, 45kHz and two 31kHz and submaps respectively 19kHz+31kHz and 31kHz+45kHz both include...
  • Page 238 How to change modes: Choose hedge Go to Ultrasound -> TDMA mode Left Click to change...

  • Page 239: Increasing Update Rate

    11.4. Increasing update rate The update frequency is affected by 2 main parameters: 1) Radio profiles 2) Room dimensions (tracking areas) If you need to tune the update rate of tracking, do the following: 1) Radio profiles: There are 3 radio profiles available: 38kbps, 153kbps, 500kbps: 38kbps is the slowest, but is able to cover a greater distance 153kbps - average speed, overcomes the average distance (default) 500kbps is the fastest, but works at a shorter distance...

  • Page 240: Reducing Location Update Latency

    11.5. Reducing location update latency Exact latency depends on many factors: IA or NIA From modem or from the beacon IMU sensor fusion or regular ultrasonic only Radio profile Realized update rate Any sort averaging or Real-time player enabled or not The range is: ~ 12ms for data from a mobile beacon via USB with IMU fusion enabled and not averaging at all...
  • Page 241 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.

  • Page 242: How To Place Beacons

    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.

  • Page 243: Using The Oscilloscope

    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.

  • Page 244: Proper Ultrasonic Signal Detection

    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. This also makes the system rather immune against the “usual suspects.” However, if the external noise is too strong, its source is too close, or it’s emitting a strong signal on frequencies close to...

  • Page 245: Using Hedgehog.log File

    11.9. 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.

  • Page 246: System Accuracy Evaluation

    0.17% of real distance between beacons. For example, with distance 30 meters and 5 °C error, this gives 0.85%*30 ~ 0.25 meters’ error. Marvelmind system allows to setup temperature of air in the system settings. Accuracy of position measurement: Marvelmind system uses trilateration algorithm to calculate position by distances.

  • Page 247: Calibration Of The Accelerometer

    11.11. 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.
  • Page 248 When calibrating, it measures the data of the free fall (gravity of the Earth) corresponding to each of the three axes X, Y, Z. The initial ones from these calculations remember the correction shifts indicated in the table as "Zero" and the correction factors indicated as "K"...

  • Page 249: Settings To Obtain Correct North Direction

    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.

  • Page 250: Communication Of Pixhawk With Marvelmind Mobile Beacon

    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)

  • Page 251: Sending Path To Robot

    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: Modem transmits data to the hedgehog via radio, using our proprietary protocol https://marvelmind.com/pics/modem_usb_protocol.pdf...
  • Page 252 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. But robot should confirm receiving each waypoint by this packet: [0x03,0x47,0x01,0x02,0x00, <2 bytes of checksum>] Learn more about Robot Boxie in Marvelmind Boxie Operating Manual...
  • Page 253 How to send a path: Set up the Marvelmind Indoor “GPS” system. Turn on Boxie and wait for 1 minute Configurate paths and points (Use Shift+Left mouse button click to create point, click on point – to remove): Press “Run”. Robot will follow the path that you draw: If you put a tick on “Run forever”.

  • Page 254: Proper Ultrasonic Coverage

    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.
  • Page 255 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.

  • Page 256: Sensors Settings: Example For 2D And Mobile Beacon

    11.16. Sensors settings: example for 2D and mobile beacon Beacon Beacon Hedgehog Beacon 2 Beacon 3 RX1 and RX4 emit ultrasound in normal mode RX3 and RX4 emit ultrasound in normal mode for better ultrasonic signal exchange with for better ultrasonic signal exchange with Beacon 3.

  • Page 257: Powering Beacons

    11.17. Powering beacons Depending on the type of beacon, may be internal battery, or external USB power supply, for more details check comparison table Battery lifetime totally depends on the mode of operation and can be varied between several days to several months (or more for special applications) Learn more here: Power supply options for beacons...

  • Page 258: Power Supply And Leds

    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.

  • Page 259: Frequently Asked Questions

    We also possible to produce some special versions, which will suit your case. Please write to info@marvelmind.com 6 Are beacons resistant to explosions, dust, dirt, water, noise? - Low-frequency noise (motor noise, industrial equipment) does not interfere with the normal operation of the system You can see some other types of beacon (outdoor, explosion safe, etc.)
  • Page 260 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 Connect beacon via USB: Dashboard =>...

  • Page 261: Troubleshooting Checklist

    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.

  • Page 262: Checklist Before Starting The System

    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.

  • Page 263: Contacts

    Contacts For more information about company check: About us For additional support, please send your questions to info@marvelmind.com...

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