Marvelmind Super-NIA-3D User manual

Marvelmind Indoor Navigation System
Operating manual
v2020_12_14
www.marvelmind.com

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Table of contents
1.1. Key capabilities:..................................................................................................................... 10
1.2. Legend .................................................................................................................................. 11
2.1. What’s in the box ................................................................................................................... 12
Starter Set Super-NIA-3D:.................................................................................................12
Mini-RX Starter Set:...........................................................................................................12
2.2. Indoor Navigation System architectures................................................................................. 13
2.3. Indoor “GPS” System close-up and internal view................................................................... 15
3.1. Control system (Dashboard).................................................................................................. 17
3.2. Stationary beacon.................................................................................................................. 18
3.3. Mobile beacon a.k.a. “hedgehog”........................................................................................... 19
3.4. Modem .................................................................................................................................. 20
3.5. Different types of modems..................................................................................................... 21
Super-Modem....................................................................................................................21
Modem HW v5.1................................................................................................................23
Modem HW v4.9................................................................................................................24
3.6. Different types of beacons..................................................................................................... 25
Beacon comparison...........................................................................................................25
Super-Beacon....................................................................................................................26
3.6.2.1. External microphone extension.................................................................................... 28
3.6.2.2. External microphones schemes:.................................................................................. 29
Mini-RX beacon.................................................................................................................31
3.6.3.1. External microphone extension.................................................................................... 32
3.6.3.2. Dual microphones modification:................................................................................... 33
3.6.3.3. External microphones schemes:.................................................................................. 35
Mini-TX beacon .................................................................................................................37
Beacon Industrial-TX-Metal ...............................................................................................38
Beacon Industrial-RX.........................................................................................................40
Industrial Super-Beacon Metal-25kHz ...............................................................................42
Beacon HW v4.9................................................................................................................43
4.1. Starter Set Super-NIA-3D...................................................................................................... 44
4.2. Starter Set HW v4.9............................................................................................................... 52
4.3. Starter Set NIA-01-3D............................................................................................................ 61
4.4. Starter Set NIA-SmallDrone................................................................................................... 70
4.5. Starter Set NIA-02-2D............................................................................................................ 79
4.6. Starter Set Industrial-NIA-01.................................................................................................. 88

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5.1. Starter Set Super-MP-3D....................................................................................................... 98
5.2. Starter Set IA-01-2D............................................................................................................ 107
5.3. Starter Set IA-02-3D............................................................................................................ 116
6.1. Dashboard general view...................................................................................................... 125
6.2. Diagnostics messages window............................................................................................ 126
6.3. Table of distances ............................................................................................................... 127
6.4. Devices list .......................................................................................................................... 129
6.5. Visualization settings........................................................................................................... 130
6.6. Map Settings ....................................................................................................................... 131
6.7. Modem/beacon’s quick control panel ................................................................................... 132
6.8. CEILLING and MIRRORING buttons on the Dashboard...................................................... 133
6.9. Detailed settings.................................................................................................................. 134
Modem Settings...............................................................................................................134
Beacon’s settings ............................................................................................................139
6.10. Radio frequency band and Carrier frequency ...................................................................... 150
6.11. Different hedgehog colors in the Dashboard........................................................................ 151
6.12. Different beacons’ colors in the Dashboard ......................................................................... 152
7.1. Super-Modem’s SW update and configuration description ................................................... 153
Super-Modem’s SW update.............................................................................................153
How to update Super-Modem’s SW:................................................................................154
Super-Modem’s configuration ..........................................................................................155
7.2. SW update (USB/Radio/DFU).............................................................................................. 157
SW update via USB.........................................................................................................157
SW update via Radio.......................................................................................................157
SW update via DFU Programming...................................................................................158
7.3. Licenses .............................................................................................................................. 163
7.4. Dashboard Monitoring Mode................................................................................................ 165
7.5. Geofencing zones................................................................................................................ 166
7.6. Floors feature (FN0011) ...................................................................................................... 169
The general view .............................................................................................................169
Floor Settings ..................................................................................................................170
Loading the Floorplan (Substrate)....................................................................................172
7.7. Submap Settings................................................................................................................. 173
7.8. Axis rotation feature (FN0002)............................................................................................. 174
7.9. Vertical submaps feature (FN0003)..................................................................................... 176
How to build vertical submap for stable Z: .......................................................................177
7.10. Handover Zones Setting...................................................................................................... 179
7.11. Submaps feature (FN0004) ................................................................................................. 180

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Starting submaps.............................................................................................................181
How to create a service zone:..........................................................................................186
7.12. Paired beacons (FN0005).................................................................................................... 187
7.13. Map settings........................................................................................................................ 188
7.14. Background color................................................................................................................. 189
7.15. Hedge color change (FN0006)............................................................................................. 191
7.16. Payload streaming (FN0007)............................................................................................... 193
7.17. IMU feature (FN0008).......................................................................................................... 194
Setup IMU feature: ..........................................................................................................194
Using Data in the Python Library Example:......................................................................195
7.18. IMU axis positioning............................................................................................................. 196
7.19. Player feature (FN0009) ...................................................................................................... 198
7.20. Real-time player feature (FN0010)....................................................................................... 200
7.21. CSV format.......................................................................................................................... 202
8.1. Super-beacon external interface pinout top view ................................................................. 204
8.2. Beacon HW v4.9 external interface 4x4 pinout top view ...................................................... 205
8.3. Modem HW v4.9 external interface pinout top view ............................................................. 206
8.4. Mini-RX internal solderable pinouts (for experienced users only)......................................... 207
9.1. Building big maps in Inverse Architecture (IA)...................................................................... 209
9.2. TDMA Type 2 - Full-overlapping submaps........................................................................... 223
9.3. Increasing update rate......................................................................................................... 226
9.4. Reducing location update latency........................................................................................ 227
9.5. How to Place Beacons......................................................................................................... 229
9.6. Using the Oscilloscope ........................................................................................................ 230
9.7. Proper Ultrasonic Signal Detection ...................................................................................... 231
9.8. Using hedgehog.log file ....................................................................................................... 232
9.9. System Accuracy Evaluation ............................................................................................... 233
9.10. Calibration of the accelerometer.......................................................................................... 234
9.11. Settings to obtain correct north direction.............................................................................. 236
9.12. Communication of Pixhawk with Marvelmind mobile beacon ............................................... 237
9.13. Sending path to robot .......................................................................................................... 238
9.14. Proper ultrasonic coverage................................................................................................. 242
9.15. Sensors settings: example for 2D and mobile beacon ........................................................ 244
9.16. Powering beacons............................................................................................................... 245
11.1. Checklist before starting the system: ................................................................................... 249

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Version changes
V2020_12_14
- FCC notice for Modem HW v5.1 description added
- Minor fixes and improvements
V2020_12_04
- Starting up chapters improved
- Minor fixes and improvements
V2020_12_01
- Starting up chapters improved
- Submap’s settings chapter improved
- SW update chapter improved with DFU Programming descriptions
- Minor fixes and improvements
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 v5.1 described
- Minor fixes and improvements
V2020_07_23
- System elements chapter improved
- 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
- Building big maps in Inverse Architecture (IA) chapter described
- Minor fixes and improvements
V2020_04_24
- Dashboard Monitoring Mode described
- Super-Modem described

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- Super-Modem SW update described
- Minor fixes and improvements
V2020_04_09
- Minor fixes and improvements
V2020_04_07
- Background color described
- Height input in Starting up chapters described
- Minor fixes and improvements
V2020_02_27
- Geofencing zones described
- IMU axis positioning for Super-Beacon described
- External microphones soldering scheme for Super-Beacon improved
V2020_02_21
- Minor fixes and improvements
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 and improvements
V2019_10_31
- Industrial Super-Beacon Metal-25kHz described
- Starting up chapters for every starter set described
- Super-Beacon and Super-Beacon outdoor described
- Improved photos
- Reception diagrams for HW v4.9 improved
- Oscilloscope chapter improved
- Minor fixes and improvements
V2019_07_02
- Troubleshooting improved
- Architectures comparison improved
- Minor fixes and improvements
V2019_06_25
- TDMA modes described

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- Stationary beacons’ colors described
- Minor fixes and improvements
V2019_06_13
- Delay tuning described
- Update rate tuning described
- Minor fixes and improvements
V2019_06_07
- F.A.Q. and Troubleshooting improved
- Architectures comparison improved
- Receiving and transmitting angles illustrations added (v4.9 chapter and Mini-RX chapter)
- Ceiling and mirroring buttons described
V2019_06_03
- TDMA described
V2019_05_28
- IMU axis positioning fixed
- 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 => Mini-TX, Beacon-TX-25-IMU-
IP67-RS485 => Industrial-TX, Beacon-RX-IMU-IP67-RS485 => Industrial-RX
- Starting up the system description for different Starter Sets
V2019_02_05
- Licenses described
- Minor fixes and improvements
V2019_01_29
- Mini-RX Inverse SW flashing described
- Added new types of beacons
- Minor fixes and improvements
V2019_01_12
- Mini-RX beacon and Mini-TX described
- IMU axis described
- Minor fixes and improvements
V2018_12_02

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- Major new feature –support for 250 beacons (mobile + stationary combined) and 250
submaps per modem
- New feature: user must setup handover zones between submaps to guarantee handover
quality for complex maps with multi-floor and similar
- New feature: default wireless connection is setting is now 153kbps (used to be 38kbps).
Radio profile 153kbps provides radio coverage range nearly as much as 38kbps and
update rate nearly as high 500kbps, i.e. it is a middle of 38kbps and 500kbps, combining
the best of both
- Correction: USB streaming in power save mode improved
- Correction: Zero IMU button in the Dashboard is improved, while button Reset IMU is
removed completely
- Correction: ultrasound TX is not reset to 31kHz when Default button is pressed. Now,
several types of ultrasonic frequencies supported, so 31kHz is not anymore default
ultrasonic frequency for all beacons
- Improved: both energy saving and tracking quality with Power Saving mode enabled
- Improved: only beacons with selected tick in the Dashboard lower menu will be accepted
to the network –not any addresses. This improves predictability of the network, when there
many beacons that may not belong to the network. Their attempts to join the network will
be blocked
- 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
- Calibration of accelerometer described
- F.A.Q. updated
- Troubleshooting guide described
- Refreshed links
- Player feature described
- IMU feature described
- Minor fixes
V2017_12_29
- SW features paragraph updates
- General updates
- Sending path to robot
- Radio frequency band switch in latest Dashboard version
- Sending path to robot
- Paired beacons feature described
- Submap feature help video
- Different hedgehog colors in the Dashboard
- FAQ updates

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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 forconstruction
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 amobile 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

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1.1. Key capabilities:
Parameter
Technical Specifications
Distance between
beacons
- Reaches up to 50 meters in lab conditions (Mini-RX or Super-Beacon to HW v4.9 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 1000m2 with the Starter Set configurations
- Coverage for larger territories is provided using submap –like cells in cellular networks
Location precision
- Absolute: 1–3% of the distance to the beacons
- Differential precision: ±2cm
Location update
rate
- 1/20Hz to 25Hz (Ultrasonic based only)
- 100Hz with ultrasonic + IMU fusion enabled
- Can be set manually via Dashboard software
- Depends on the distance between mobile and stationary beacons (shorter distance—
higher update rate)
- Depends on the number of mobile beacons (Non-Inverse Architecture; for Inverse
Architecture no such dependency)
- Depends on the radio profile (500kbps vs. 38kbps)
- Slightly depends on the number of stationary beacons—dependence is not the same as for
mobile beacons
Power supply
Internal: 1000mAh LiPo battery (HW v4.9)
- Battery lifetime: from 2 days to several months depending on the mode of operations
*For other types of beacons look to the comparison table
External: micro USB –recommended for permanent use
Weight
Mobile beacon (HW v4.9) from the starter set:
- 59 grams (including 1000mAh battery, HW v4.9 housing and 50mm antenna)
- 27 grams (HW v4.9, bare board w/o battery)
*For other types of beacons look to the comparison table
Beacon size
Size: 55x55x33mm (with 50mm antenna: 55x55x65mm) (HW v4.9)
*For other types of beacons look to the comparison table