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

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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

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Basics of the system
2.1. What’s in the box
Starter Set Super-NIA-3D:
- 5 x Super-beacons
- 1 x Modem/Router
Mini-RX Starter Set:
- 4 x Mini-RX beacons
- 1 x Mobile beacon (HW v4.9) + IMU (aka “hedgehog”)
- 1 x Modem/Router
*This is just an example of two starter sets.
More options you can see on our site: Products

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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
For IA you should use stationary beacons with different frequencies
Below you can see 2 types of architectures: Non-Inverse (NIA) and Inverse (IA):

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

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2.3. Indoor “GPS” System close-up and internal view
Here, you can see how system elements look like
- Super-beacon
- HW v4.9 modem (without housing)
- Mini-RX beacon
- Mini-TX

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- HW v4.9 beacon with Mini-TX size comparison
- Beacon Industrial-RX
- Beacon Industrial-Super

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System elements
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
You can get data without the Dashboard, the whole system after setting up can work
without it

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3.2. Stationary beacon
- Usually, mounted on the 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
- The position and orientation of the beacons should be chosen
in a way that provides maximum ultrasonic signal coverage.
System efficacy strongly depends on the quality of ultrasonic
signal received by stationary beacons
- Stationary beacons emit and receive ultrasound
during the map configuration period. Once the map is formed and frozen, they only work as
the receivers
- Stationary beacons have no exterior differences with regard to mobile beacons
- Inertial measurement unit (IMU) is not installed on the stationary beacons
- The mobile and stationary beacons can be easily interchanged during configuration in the
Dashboard
- There are 433MHz and 868/915MHz versions available. A proprietary radio protocol is used
for communication and synchronization. Other ISM bands are available upon request as
well
- Stationary beacon can be equipped with full-size 165mm antenna (for 433 MHz), which
provides more robust radio connection between modem and beacons (for HW v4.9)
Fig.1: Super-beacon as an example

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3.3. Mobile beacon a.k.a. “hedgehog”
- The mobile and stationary beacons can be easily
interchanged by selecting in the Dashboard
- The mobile beacons designed to be placed on a robotic
vehicle, copter/drone, AGV, or helmet to trace its
location. Formally speaking, location of the mobile
beacon is traced—not the robot itself. Since the sizes
and the location of the central point of the mobile
beacon and the robot are different, the difference taken
into account in the robot’s software (SW)
- It is recommended to place the mobile beacon
horizontally to provide optimal ultrasonic coverage in
the upper hemisphere
- Its sensors must not be covered with anything that can
reduce the strength of ultrasonic signal. For example, the system won’t normally work, if one
puts the mobile beacon in a plastic box
- The beacon’s coordinates are updated according to the rate set on the Dashboard
- The system may contain one or several mobile beacons. Current implementation relies on a
time-division multiple access approach. Thus, if two mobile beacons are activated, they
share the same system bandwidth. It means that, if the 16 Hz update rate is selected in the
Dashboard and there are 2 mobile beacons in the system, each beacon’s location will be
updated with the rate of 16Hz/2 ~ 8Hz. If there are 3 mobile beacons => 16Hz/3 ~ 5Hz, etc.
For 4 and more mobile beacons we recommend using Inverse Architecture. See more in
Architectures comparison
- Location data is obtained either from the “hedgehog” via USB (virtual UART), UART, SPI, or
from the modem/router via USB (virtual UART). More information on interfaces can be
found here (Mini-RX and Mini-TX beacons do not have pinouts, only over micro-USB)
- Data from the beacon sent in a streaming format identical to that of GPS (NMEA 0183)
- There are 433MHz and 868/915MHz (868/915MHz only for Mini-RX and Super-Beacon)
versions available. Proprietary radio protocol is used for communication and
synchronization
- The “hedgehog” has been successfully integrated with Windows PC, Linux machines,
Raspberry Pi, Arduino boards, Intel boards, etc.
Fig.1: Super-beacon as an example

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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
- It can be placed anywhere within radio coverage for permanent radio
connection with all beacons—usually in the radius of up to 100 meters
with antennas from the Starter Set
- Radio coverage further extended to a few hundred meters by using a
lower bitrate of 38kbps and full-size (165mm for a 433MHz band)
antennas, which have been tested to provide up to 400m in ideal
conditions
- There are 433MHz and 915MHz versions available
- A proprietary radio protocol used for communication and synchronization between modem
and beacons
Fig.1: HW v5.1 Modem as
an example