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235 

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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.  TDMA  1(red)  submaps  emit  first,  TDMA  2(green)  submaps 
emit second, TDMA 3(blue) submaps emit third: 

Moreover, the map consists of 6x11 = 66 stationary beacons, i.e. 11 beacons of each 
of  the  frequencies  combined  into  submaps:  19-31kHz,  31-45kHz,  45-19kHz,  19-
37kHz, 37-25kHz.

 

 

SM2 

SM1 

SM0 

SM3 

SM4 

TDMA 1 

TDMA 2 

TDMA 3 

TDMA 1 

TDMA 2 

TDMA 3 

TDMA 1 

TDMA 2 

TDMA 3 

TDMA 1 

TDMA 2 

19kHz 

19kHz 

19kHz 

19kHz 

19kHz 

19kHz 

19kHz 

19kHz 

19kHz 

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31kHz 

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45kHz 

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19kHz 

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37kHz 

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25kHz 

25kHz 

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25kHz 

25kHz 

25kHz 

25kHz 

25kHz 

SM7 

SM6 

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SM12 

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SM42 

SM41 

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SM46 

SM45 

SM48 

SM49 

SM52 

SM51 

SM50 

SM53 

SM54 

Summary of Contents for IA-04-2D-Badge

Page 1: ...Marvelmind Indoor Navigation System Operating manual v2022_08_24 www marvelmind com ...

Page 2: ... HW v4 9 30 3 6 Different types of beacons 31 3 6 1 Super Beacon 32 3 6 2 Beacon Mini RX 40 3 6 3 Beacon Mini TX 47 3 6 4 Beacon Industrial TX Metal 48 3 6 5 Beacon Industrial RX 50 3 6 6 Industrial Super Beacon Metal 25kHz 53 3 6 7 Beacon HW v4 9 55 4 Software pack 56 4 1 Download and open 57 4 2 Dashboard folder 58 4 3 Software IA folder 59 4 3 1 Types of Industrial Super Beacons 61 4 4 Software...

Page 3: ...iagnostics messages window 120 7 3 Table of distances 123 7 4 Devices List 125 7 5 Visualization settings 126 7 6 Map Settings 127 7 7 Modem beacon s quick control panel 128 7 8 Celling and Mirroring buttons on the Dashboard 129 7 9 Detailed settings 130 7 9 1 Modem Settings 130 7 9 2 Beacon s settings 136 7 10 Radio frequency band and Carrier frequency 148 7 11 Different hedgehog colors in the Da...

Page 4: ...s 188 9 13 Axis rotation feature FN0002 189 9 14 Vertical submaps feature FN0003 191 9 14 1 How to build vertical submap for stable Z 192 9 15 Submaps feature FN0004 194 9 15 1 Starting submaps 195 9 15 2 How to create a service zone 199 9 16 Handover Zones Setting 201 9 17 Paired beacons FN0005 202 9 18 Paired microphones 204 9 19 Map settings 205 9 20 Background color 206 9 21 Hedge color change...

Page 5: ...ll overlapping submaps 236 11 4 Increasing update rate 239 11 5 Reducing location update latency 240 11 6 How to Place Beacons 242 11 7 Using the Oscilloscope 243 11 8 Proper Ultrasonic Signal Detection 244 11 9 Using hedgehog log file 245 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 Pixh...

Page 6: ...9 14 2 updated Chapter 10 updated Section 11 2 2 Static IP added V2022_06_16 Section 9 4 Restart if modem disconnected added Section 9 5 Geofencing alarm added Section 9 6 PPS Pulse per second signal added Section 11 1 Radio Profiles compatibility updated SW settings chapter moved to chapter 5 Chapter 5 1 2 added Minor fixes and improvements V2022_06_01 Section 10 2 Wi Fi settings for Super Modem ...

Page 7: ...removed Section 4 3 pictures of top view and side view changed to relevant Section 4 examples of 2D configuration added Information about Starter Set NIA 02 2D removed Information about Starter Set IA 01 2D removed Information about Starter Set IA 02 3D removed 5 1 section screenshot updated 5 4 section all screenshots updated 5 7 section screenshots updated 6 7 1 section updated 6 7 2 section scr...

Page 8: ... 2 pinout picture updated V2021_06_03 Pairing beacon chapter and beacons pinout pictures updated V2021_04_25 Paired beacons chapter updated V2021_02_09 Minor fixes and improvements V2021_01_28 Architectures elements chapter described Architectures chapter improved Minor fixes and improvements V2020_12_21 FCC notice for Super Beacon description added Minor fixes and improvements V2020_12_14 FCC not...

Page 9: ...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 Super Modem SW update described Minor fixes and improve...

Page 10: ...g 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 Stationary beacons colors described Minor fixes and improv...

Page 11: ...le 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 midd...

Page 12: ...mproved 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 ...

Page 13: ...s 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 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 bec...

Page 14: ...ually 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 153kbps 38kbps Slightly depends on the number of stationary beacons dependence is not the same as for mobile beacons Power supp...

Page 15: ...15 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: ...sed as AI and NIA 1 x Mobile Super Beacon 1 x Modem v5 1 supporting up to 250 beacons 2 1 2 Starter Set IA 04 2D Badge 2 x Super Beacons 915 868 MHz with different ultrasonic frequencies f1 and f2 usually 25kHz and 31kHz 1 x Marvelmind Badge 915 868 MHz as mobile beacon 1 x Modem HW v5 1 915 868 MHz as central controller of the system This is just an example of two starter sets You can see more op...

Page 17: ... 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 ...

Page 18: ...18 Here is a tutorial video about architectures Help Inverse Architectures IA vs Non Inverse Architectures NIA ...

Page 19: ...a submap are its size frequencies and TDMA position of stationary beacons by which mobile beacons can not only be positioned but also determine in which submap the mobile beacon is located Here is the main tutorial video about maps Help submaps service zones handover zones 14 10 11 12 Service zone Submap1 Service zone Submap0 Mobile beacon Stationary beacon Submap1 tab Submap0 beacon 10 11 Submap1...

Page 20: ...20 2 4 Indoor GPS System close up and internal view Here you can see how system elements look like Super Beacon Modem HW v5 1 Beacon Mini RX ...

Page 21: ...21 Beacon Mini TX Beacon Industrial RX Beacon Industrial TX Metal ...

Page 22: ...22 Industrial Super Beacon Plastic ...

Page 23: ... 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 ...

Page 24: ...ary beacons Stationary beacons emit and receive ultrasound during the map configuration period In non inverse architecture once the map is formed and frozen they only work as receivers In inverse architecture they only work as transmitters Stationary beacons have no exterior differences with regard to mobile beacons The mobile and stationary beacons can be easily interchanged during configuration ...

Page 25: ...urrent 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 be...

Page 26: ...io 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 433 and 915MHz band antennas which have been tested to provide up to 400m in ideal conditions There are 433MHz only for HW v4 9 out of production ...

Page 27: ...oard for system tuning and control Do not forget to power Super Modem via Power connector UDP streaming over Wi Fi is supported In the future remote control of the modem and the whole system via TCP IP will be supported too Bluetooth HW enabled but not yet supported in SW 1000x more RAM and 1000x Flash memory than Modem HW v4 9 Full size bendable antenna by default Higher ingress protection up to ...

Page 28: ...imilar to Industrial beacons 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 2W For optional IP67 version extended working temperature range 40C 50C provided by ...

Page 29: ...erence will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures Reorient or relocate the receiving antenna Increase the separation between the equipment and receiver Conne...

Page 30: ...or 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 protoc...

Page 31: ...beacon Compact beacon Mini TX for ultrasound transmitting only This is good for copter and tracking for its small size Super Beacon can receive and transmit ultrasound using in most cases Could be made in Outdoor modification 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 marv...

Page 32: ...mize coverage vs sensitivity The Super Beacon can receive any ultrasonic frequency from the bands 19kHz 22kHz 25kHz 28kHz 31kHz 34kHz 37kHz 45kHz The filter can be simply selected in the Dashboard At the same time the ultrasonic frequency of Beacon HW v4 9 is HW defined by ultrasonic sensors and can t be changed The Super Beacon can receive several ultrasonic frequencies at once That is used in th...

Page 33: ...ce by one or more of the following measures Reorient or relocate the receiving antenna Increase the separation between the equipment and receiver Connect the equipment into an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help Changes or modifications not expressly approved by the party responsible for complia...

Page 34: ...34 The equipment should be installed and operated with minimum distance 20cm between the radiator your body ...

Page 35: ... to connect External Microphone IP67 or Omni Microphone IP67 It is also possible to use 2 External Microphones to calculate the direction or to improve and increase the reception area Omni Microphone IP67 wire length is 1m it connects to 4x4 pinout in default configuration External microphone length is 25cm default may be expanded up to 1m optional Check out the product page Be careful You should ...

Page 36: ...36 Figure 2 Super Beacon with two External Microphones connected Figure 3 Super Beacon with Omni ...

Page 37: ...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: ...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: ...39 Figure 7 One External Microphone connection Figure 8 Two External Microphone connection ...

Page 40: ...rs and can t be changed Mini RX beacon can receive several ultrasonic frequencies at once That is used in Inverse Architecture See the comparison NIA and IA comparison The Mini RX Beacon is significantly smaller than Super Beacon Can play a role of stationary beacon when imputing coordinates manually in NIA Can play a role of mobile beacon in IA system Has digital microphone which is more sensitiv...

Page 41: ...o get access to DIP switch Put DIP switch to needed position When DIP switch in this position only charge of device is possible Put DIP switch to this position To turn on the beacon For HEX programming via Dashboard Put DIP switch to this position For DFU programing via DfuSe v3 0 5 or DfuSe v3 0 6 ...

Page 42: ...ill not interfere and will not be visible It allows you to create more accurate implantation It is also possible to use 2 external microphones to calculate the direction or to improve and increase the reception area Length is 25cm default may be expanded up to 1m optional Check out the product page Be careful You should have soldering skills to solder external microphone on board Mini RX beacon Ex...

Page 43: ...l microphones modification Figure 1 One external microphone with housing Figure 2 Two external microphones with housing Mini RX beacon hidden inside External Microphone 2 External Microphone 1 Robot s head 47mm 210mm ...

Page 44: ...44 Figure 3 One external microphone soldering Figure 4 Two external microphones soldering ...

Page 45: ...45 3 6 2 4 External microphones schemes Figure 5 One External Microphone connection Figure 6 Two External Microphones connection ...

Page 46: ...46 Figure 7 Two External Microphones final view Figure 8 Two External Microphones final view ...

Page 47: ...ly longer Very efficient ultrasonic TX module Mini TX has only USB virtual UART output no additional pins Mini TXs always have embedded IMU newer and better but it has 3D accelerometer and 3D gyroscope but no magnetometer which we do not recommend using indoors anyway due to magnetic field distortion indoor Embedded antenna smaller size but smaller radio coverage 50m with regular Modem HW v4 9 as ...

Page 48: ...ended working temperature range from 40 C to 50 C not tested provided by design Embedded reset switch and DFU switch magnetic control Two IP67 external connectors Modification After June 2022 for versions 2 and 3 Version 2 and 3 of Industrial TX Metal from June 2022 supports ONLY 5V power supply Don t use 12V power supply converter for this version it will burn the beacon This version doesn t have...

Page 49: ...ng diagram 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 if you have beacons from the early batch use Industrial RX or Industrial TX SW Stickers differences Later batch Ind RX S or Ind TX S Early batch Beacon Ind RX or Beacon Ind TX Version 2 and 3...

Page 50: ... inside by default external power bank or external power supply 12V or 5V But optional variant with internal battery is possible except version from April 2022 it supports only 5V power supply Two IP67 external connectors Modification After April 2022 Version 3 of Industrial RX from April 2022 supports ONLY 5V power supply Don t use 12V power supply converter for this version it will burn the beac...

Page 51: ...set 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 and heavy outdoor Industrial TX and Industrial RX beacons radio bands must match Optional external Converter 220V 12V IP67 except version from April 2022 it supports only 5V power supply Wide reception dia...

Page 52: ...he late batch you must use Industrial Super beacon SW if you have beacons from the early batch use Industrial RX or Industrial TX SW Stickers differences Later batch Ind RX S or Ind TX S Early batch Beacon Ind RX or Beacon Ind TX Version 2 and 3 of Industrial TX Metal from June 2022 supports ONLY 5V power supply Don t use 12V power supply converter for this version it will burn the beacon This ver...

Page 53: ...External antenna with SMA connector for extended radio range Corresponding IP67 connectors male part included No battery inside Extended working temperature range from 40 C to 50 C not tested provided by design Embedded reset switch and DFU switch magnetic control Two IP67 external connectors Modification After April 2022 Version 3 of Industrial RX from April 2022 supports ONLY 5V power supply Don...

Page 54: ... 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 Be double attentive with update Version 2 and 3 of Industrial TX Metal from June 2022 supports ONLY 5V power supply Don t use 12V power supply converter for this version it will burn the beacon This version doesn t have UA...

Page 55: ...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: ...atest SW pack the Dashboard will automatically substitute their older SW version number with the latest SW version number It is done in order to detect and avoid the most common mistake by the users an attempt to run incompatible SW versions of beacons modem Dashboard obtained from different SW packs i e not updating the beacons modems to the latest SW version from the same SW pack upon getting th...

Page 57: ...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 for inverse architecture IA Folder with software for modem and beacons for non inverse architecture NIA Folder with software for Super Modem same software for both NIA and IA ...

Page 58: ...58 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: ...all software to flash devices to build a map in Inverse Architecture Use this folder to flash sets 1 Starter Set IA 04 2D Badge 2 Starter Set Super MP 3D in Inverse Architecture For Badge For Beacon HW 4 9 in IA For Beacon Mini RX For Cap For Headlight IA ...

Page 60: ...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: ...61 4 3 1 Types of Industrial Super Beacons 1 Beacon Industrial RX 2 Industrial Super Beacon Metal 25kHz 3 Industrial Super Beacon Plastic ...

Page 62: ...der you can find all software to flash devices to build a map in Non Inverse Architecture Use this folder to flash sets 1 Starter Set HW v4 9 NIA 2 Starter Set NIA SmallDrone 3 Starter Set Industrial NIA 01 4 Starter Set Super MP 3D in NIA ...

Page 63: ...63 For Beacon HW 4 5 For Beacon HW 4 9 433 and 915 NIA For Beacon Mini RX For Industrial Beacons For Modem HW v4 9 For Modem HW v5 1 For Super Beacon NIA For Beacon Mini TX ...

Page 64: ...h micro SD card inside the Super Modem for update Super Modem Micro SD card image is supplied in separate archive because it is pretty large After SW release v7 040 you can flash Super Modem via Dashboard Flash both levels high and low Please refer to downloads page and download SW for Super Modem Firmware for Super Modem high level DFU and HEX files for Super Modem flash Low level ...

Page 65: ... 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 Please refer to Operating Manual for details of updating software via dashboard or dfu High level software is located on micro SD card inserted in the Raspberry Pi single board computer inside Super Modem To updat...

Page 66: ...embling 5 1 2 1 Connect power Supply to Super Modem and connect Super Modem to PC via USB Wait for 1 minute till it appears in Dashboard 5 1 2 2 There are two Firmware versions Low level Firmware version and High level High level software version Both of them should be flashed from the same pack 5 1 2 3 Go to Firmware Upload firmware ...

Page 67: ...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: ...uper Modem s SW 5 1 3 1 Open Super Modem enclosure 5 1 3 2 Eject the micro SD card Super Modem should not be powered at this time 5 1 3 3 Insert micro SD card into any MS Windows computer via card reader 5 1 3 4 Download and unpack the archive with image of updated software 5 1 3 5 Install and run Win32 disk imager program supplied in the archive with image 5 1 3 6 Open the image file and write to...

Page 69: ... modified via configuration files on the micro SD card inserted in the Super Modem To modify these files you need to Open Super Modem enclosure Eject the micro SD card Super Modem should not be powered at this time Insert micro SD card into any computer with Linux Open and modify certain configuration files on the micro SD card see below Eject micro SD card from computer and insert back into Super...

Page 70: ...nnect wifi_password password PSK for this network In file stream_options udp_destination_ip IP address in local network where Super Modem will stream data udp_destination_port UDP port where Super Modem will stream data If you need more information about UDP streaming here https marvelmind com pics UDP_C_example zip ...

Page 71: ...a USB is used for the very first time you starting up the system It allows you to make an update up to actual SW version very quickly before the system deployment Pros Quick SW update per beacon Cons All the devices should be connected to the PC via USB cable If you already deployed the system you will need to unmount it How to Launch the Dashboard Make sure that the beacon is on Connect beacon to...

Page 72: ...til 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 If you had some custom Radio settings before it would be changed to 153kbps Radio profile 0 Radio channel ...

Page 73: ...ow to Launch the Dashboard Make sure that the modem is connected to the Dashboard via USB Ensure that you can see your beacons via radio in the Dashboard Click on the beacon you want to update In the bottom devices list go to Firmware Upload firmware Choose hex SW file for your device Be careful with IA and NIA architectures do not mix them Click Next Wait until beacon update finishes Repeat for a...

Page 74: ... update for different types of devices Pros Ultimatum SW update erases all glitches settings and etc Makes it possible to revive beacon if everything goes bad Cons More complicated than a regular SW update clears all settings Save map file not to lose your map To make a DFU Programming you need to know where hardware reset button and DIP switches are placed Reset button and DIP switch placement fo...

Page 75: ...hey have magnetic DFU switch and magnetic Reset button Industrial Super Beacon Plastic Industrial Super Beacon Metal 25kHz DIP switches Reset button on the other side Disassemble Carefully Magnetic DFU switch side Magnetic Reset side Magnetic DFU switch side Magnetic Reset side ...

Page 76: ...and Reset different types of Modems Modem HW v5 1 Modem HW v4 9 Super Modem Magnetic DFU switch side Magnetic Reset side Hardware Reset button on side DFU mode pins Hardware Reset button on side DFU mode pins Magnetic DFU switch side Magnetic Reset side ...

Page 77: ...press the Reset button device will go into DFU mode 2 Connect the device via USB to your PC Do not forget to power Industrial versions of beacon and Super Modem they do not have internal battery 3 Run DfuSe Choose whichever works the best for your Windows DfuSe v3 0 4 or DfuSe v 3 0 5 4 In the upper left corner of the DfuSe program you will see a device connected in the DFU mode If not reenter dev...

Page 78: ...1 second the second magnet to the Reset side of the device device will exit from DFU mode For Modem HW v5 1 and Modem HW v4 9 shot circuit DFU mode pins and press the Reset button device will go into DFU mode 9 Start the Dashboard left device connected to the PC via USB Do not forget to power Industrial versions of beacon and Super Modem they do not have internal battery device should appear in th...

Page 79: ...art from NIA in 2D configuration 2 stationary beacons and 1 mobile beacon As you achieved perfect results in NIA you can set up the system in IA Check 8 basic steps from unpacking to autonomous drive flight Step by step guide on how to build complex maps Detailed explanation of complex map building Building submaps Part 1 Building submaps Part 2 ...

Page 80: ...ble 6 2 2 DIP switch position for work and HEX programming Put DIP switch to this position To turn on the beacon For HEX programming via Dashboard 6 2 3 DIP switch position for DFU programming Put DIP switch to this position For DFU programing via DfuSe v3 0 5 or DfuSe v3 0 6 Put DIP switch to position for work and restart beacon after DFU programming Reset button DIP switches Reset button DIP swi...

Page 81: ...g USB cable Full charging takes about 1 2 hours 6 3 3 Turn the beacons on Place DIP switches as shown on the picture below 6 3 4 Download SW Pack 6 3 5 Update all the beacons HEX programming 6 3 6 Run the Dashboard and update the SW for all beacons and modem using Dashboard Firmware Choose the file Program 6 3 7 If you see the message Not found modem connection to computer through USB in the Dashb...

Page 82: ...ng 6 3 11 2 After the DFU SW upgrade future SW upgrades can be done in a regular manner via the Dashboard 6 3 11 3 To start programming move the beacon s DIP switch to the DFU programming mode as described in the paragraph on DIP switch modes 6 3 11 4 Download the latest SW package unzip it and select the proper version of the SW for your HW and for your frequency variant Remember that for DFU pro...

Page 83: ...ou used or change the version of DfuSe SW you selected 6 3 11 16 Move the DIP switch into Power ON DFU OFF 6 3 11 17 Start the Dashboard and press the RESET button on the beacon 6 3 11 18 Check SW on the beacon afterwards 6 3 11 19 Everything should be OK with SW now DFU programming is complete 6 3 11 20 Follow the same scenario for the modem 6 3 11 21 After uploading DFU driver by DfuSe short cir...

Page 84: ...ashboard and press RESET button 6 3 12 If you experience difficulties in DFU programming please try the following 6 3 12 1 Use a different computer with a different version of Windows or another operating system 6 3 12 2 Install a different DfuSe version whichever works best with your Windows 6 3 13 If you have uploaded the latest firmware for all the boards you can start to activate the system 6 ...

Page 85: ...ss the RESET button on your beacons and modem after programming 6 3 17 After programming devices with the latest software the modem and beacons are ready for use 6 3 18 Place the stationary beacons high on the walls vertically in a way that will provide optimal ultrasonic coverage Write down the beacon s height for future change in the settings The help video on installation can be found here Help...

Page 86: ...86 Side view of 2D configuration Top view of 2D configuration More information about placement you can find in Placement Manual Stationary beacon Stationary beacon Mobile beacon Modem beacon 6 10m 4 6m ...

Page 87: ... to wake up 6 3 23 Notice that if the modem is not active and is not powered the beacons will go into sleep mode automatically after 1 minute 6 3 24 The system may run the frequency search if it is the very first time you are waking up the beacons If this step does not work disconnect the modem and connect that beacon again via USB Press the DEFAULT button in the Dashboard and the Read All button ...

Page 88: ...f you do not see some of your connected beacons on the map you may need to scroll to find their addresses 6 3 29 Double click on the device both to put it into sleep mode and to wake it up 6 3 30 The map will form and zoom in automatically 6 3 31 If the map does not form well check the table of distances in the left corner of the Dashboard The cells must be colored in white it means the distances ...

Page 89: ...use usually there is an obstruction of some sort in the between the beacons If you have any problems check Table of distances chapter 6 3 33 Make a service zone clicking on the map with Shift Left click See Submaps chapter for more details 6 3 34 Freeze the Submap by clicking the button Stationary beacons will stop measuring relative distances and will be ready to measure distance from the mobile ...

Page 90: ... settings between beacons For example some sensors may be off or some ultrasonic or radio settings may be different You can change the settings for sensors manually by clicking on the panel on the upper right corner of the Dashboard to change the cells from gray to green to turn on sensor It is recommended that the default settings on all beacons and the modem are used if this is your first time u...

Page 91: ...m 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: ...e 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 To install the driver download it with link at top window in the Dashboard and run the installation file then click on the li...

Page 93: ...witch to the DFU programming mode as described in the paragraph on DIP switch modes 6 4 5 3 Download the latest SW package unzip it and select the proper version of the SW for your HW and for your frequency variant Remember that for DFU programming you should use DFU SW DfuSe not Dashboard s hex file 6 4 5 4 Download DfuSe 6 4 5 5 Here you will find different versions of DfuSe v3 0 5 or v3 0 6 whi...

Page 94: ... the version of DfuSe SW you selected 6 4 5 15 Move the DIP switch into Power ON DFU OFF 6 4 5 16 Start the Dashboard and press the RESET button on the beacon 6 4 5 17 Check SW on the beacon afterwards 6 4 5 18 Everything should be OK with SW now DFU programming is complete 6 4 5 19 Follow the same scenario for the modem 6 4 5 20 Here is the link for the modem DFU programming The steps are similar...

Page 95: ...ll a different DfuSe version whichever works best with your Windows If you have uploaded the latest firmware for all the boards you can start to activate the system 6 4 6 While the beacon or modem is connected to the Dashboard click the DEFAULT button on the Dashboard to upload the default settings 6 4 7 Write down the beacon s address for future use or change the address at your convenience as sh...

Page 96: ...6 4 14 It may take up to 7 10 seconds for the beacons to wake up 6 4 15 Notice that if the modem is not active and is not powered the beacons will go into sleep mode automatically after 1 minute 6 4 16 The system may run the frequency search if it is the very first time you are waking up the beacons If this step does not work disconnect the modem and connect that beacon again via USB Press the DEF...

Page 97: ... modem supports 250 beacons mobile stationary combined If you do not see some of your connected beacons on the map you may need to scroll to find their addresses 6 4 21 Double click on the device both to put it into sleep mode and to wake it up 6 4 22 The map will form and zoom in automatically 6 4 23 If the map does not form well check the table of distances in the left corner of the Dashboard Th...

Page 98: ...the mobile beacon following the same steps as with the stationary beacon More details in our video Demo converting beacon to mobile beacon hedgehog 6 4 28 If you see on the devices panel in the Dashboard that the beacon is colored orange it means there are some differences in some of the settings between beacons For example some sensors may be off or some ultrasonic or radio settings may be differ...

Page 99: ...m 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: ... the same Super Beacon and Mini TX have different HW and SW from HW v4 9 Use Super Beacon SW for Super Beacons Mini TX SW for Mini TX beacons HW v4 9 s SW for HW v4 9 6 5 1 Unpack the system Take a look at a similar unpacking video of HW v4 9 The videos have certain differences but the basic are the same https youtu be sOce7B2_6Sk 6 5 2 Charge all the beacons using USB cable Full charging takes ab...

Page 101: ...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 5 5 1 After the DFU SW upgrade future SW upgrades can be done in a regular manner via the Dashboard 6 5 5 2 To start programming move the beacon s DIP switch to the DFU programming mode as d...

Page 102: ...s 1 3 seconds and does not happen instantly Otherwise the SW has not been uploaded correctly If the DFU appears to upload immediately check the Choose button you used or change the version of DfuSe SW you selected 6 5 5 14 Move the DIP switch into Power ON DFU OFF 6 5 5 15 Start the Dashboard and press the RESET button on the beacon 6 5 5 16 Check SW on the beacon afterwards 6 5 5 17 Everything sh...

Page 103: ...pen instantly Otherwise the SW has not been uploaded correctly If the DFU appears to upload immediately check the Choose button you used or change the version of DfuSe SW to a different one 6 5 5 21 Disconnect the short circuit 6 5 5 22 Start the Dashboard and press RESET button If you have uploaded the latest firmware for all of the boards you can start to activate the system 6 5 6 While the beac...

Page 104: ...s with the latest software the modem and beacons are ready for use 6 5 10 Place the stationary beacons high on the walls vertically in a way that will provide optimal ultrasonic coverage Write down the beacon s height for future change in the settings The help video on installation can be found here https youtu be WY0HkLzmjys Side view Stationary beacon Stationary beacon Stationary beacon Mobile b...

Page 105: ...after 1 minute 6 5 16 The system may run the frequency search if it is the very first time you are waking up the beacons If this step does not work disconnect the modem and connect that beacon again via USB Press the DEFAULT button in the Dashboard and the Read All button to make sure that the radio settings are the default ones 6 5 17 Check that the radio settings on the modem and the radio setti...

Page 106: ...ay need to scroll to find their addresses 6 5 21 Double click on the device to put it into sleep mode or wake it up Only 4 stationary beacons may be in 1 submap If you wake up more beacons create a new submap for them otherwise it will not be displayed on the map and in the table of distances 6 5 22 Build the map Mini RX beacons cannot build the map automatically manual inputting of the coordinate...

Page 107: ...e 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 significant impact on your tracking 6 5 22 4 Repeat for all cells 6 5 23 Freeze the map by clicking the button Stationary beacons will stop measuring relative distances and will be ready to measure distance from the mobile...

Page 108: ... change the settings for sensors manually by clicking on the panel on the upper right corner of the Dashboard to change the cells from gray to green to turn on sensor It is recommended that the default settings on all beacons and the modem be used if this is your first time using the system 6 5 26 After you freeze the map of stationary beacons wake up the mobile beacon After it wakes up it will be...

Page 109: ...strial beacons Otherwise warranty will be lost Version 3 of Industrial RX from April 2022 supports ONLY 5V power supply Don t use 12V power supply converter for this version it will burn the beacon Version 3 doesn t have UART RX but now is possible to use Interface connector as a power supply For this version 6 6 1 Unpack the system Take a look at the similar unpacking video of HW v4 9 They are di...

Page 110: ...modem SW and beacon SW must be from the same SW pack Don t mix SW releases If SW flashed SUCCESSFULLY MOVE DIRECTLY TO 4 6 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 a...

Page 111: ...5 1 Activate DFU mode and reset the beacon Industrial beacons have magnetic DFU mode and reset Place first magnet any strong and modern magnet to the right side of the beacon Step 1 After that place second magnet to the left side of the beacon and remove it in a second just to reset it Step 2 6 6 5 2 Connect the beacon via USB to your PC 6 6 5 3 Connect power supply cable to your beacon 6 6 5 4 Ru...

Page 112: ... the version of DfuSe SW you selected 6 6 5 9 Start the Dashboard 6 6 5 10 Reset the beacon again 6 6 5 11 Check SW on the beacon afterwards 6 6 5 12 Everything should be OK with SW now DFU programming is complete DFU Programming for the modem 6 6 5 13 Here is the link for the modem DFU programming The steps are similar to those for beacon DFU programming 6 6 5 14 After uploading DFU driver by Dfu...

Page 113: ...diately check the Choose button you used or change the version of DfuSe SW to a different one 6 6 5 17 Disconnect the short circuit 6 6 5 18 Start the Dashboard and press RESET button 6 6 6 If you have uploaded the latest firmware for all the boards you can start to activate the system 6 6 7 While the beacon or modem is connected to the Dashboard click the DEFAULT button on the Dashboard to upload...

Page 114: ...programming devices with the latest software the modem and beacons are ready for use 6 6 11 Place the stationary beacons high on the walls vertically in a way that will provide optimal ultrasonic coverage Write down the beacon s height for future change in the settings The help video on installation can be found here https youtu be WY0HkLzmjys Side view Stationary beacon Stationary beacon Stationa...

Page 115: ...beacons will go into sleep mode automatically after 1 minute 6 6 17 The system may run the frequency search if it is the very first time you are waking up the beacons If this step does not work disconnect the modem and connect that beacon again via USB Press the DEFAULT button in the Dashboard and the Read All button to make sure that the radio settings are the default ones 6 6 18 Check that the r...

Page 116: ...to put it into sleep mode or wake it up Only 4 stationary beacons may be in 1 submap If you wake up more beacons create new submap for them Or it won t be displayed on the map and in the table of distances 6 6 23 Build the map Industrial RX beacons are not possible to build the map automatically so you have to build it manually 6 6 23 1 Open the Dashboard You will see the table of distances 6 6 23...

Page 117: ...s as with the stationary beacon https youtu be A4aRsjH2 _E 6 6 26 If you see on the devices panel in the Dashboard that the beacon is colored orange it means there are some differences in some of the settings between beacons For example some sensors may be off or some ultrasonic or radio settings may be different You can change the settings for sensors manually by clicking on the panel on the uppe...

Page 118: ...118 6 6 28 The system is now fully operational ...

Page 119: ...e Dashboard s general interface and items positions Modem beacon s settings bar Modem beacon s quick control panel Visualization window Table of distances Visualization settings Devices list Map settings Modem Ceiling and mirroring buttons Diagnostics messages window GPS Robots Workers ...

Page 120: ...tion 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 There are 4 categories of reports Orange minor issue Red major issue Green Successfully completed settings Blue Successfully completed process ...

Page 121: ... Unfreeze or add submap Beacons not assigned to submaps n10 n11 Maximum 4 beacons per submap Add submap Beacons too close n10 n11 Place beacons at least 2 meters from modem Devices with duplicated address n10 n11 FEC mismatch to modem n10 n11 change FEC in radio parameters Discharged devices n10 n11 Distances were changed in frozen submap0 Sleeping beacons in frozen submap0 Network setting read fa...

Page 122: ...an t set manual location Beacon 10 is in frozen submap0 Unfreeze for manual location Enable Interfaces IMU via modem Raw IMU data to see gyro Enable Interfaces IMU via modem Raw IMU data to see accelerometer Beacon n10 has no license MMSW0007 Buy the license Beacon n10 has no license MMSW0008 Buy the license Map upload finished Switch to recorded state 719 Revert to previous state by CTRL Z licens...

Page 123: ...cells they would be changing a little the color of each cell would be white If color differs check the colors definitions next page and solve the problem Freeze the map only if cells are white 7 3 2 Measuring by user necessary for Mini RX beacons and noisy cases Use manual input if table of distances didn t build It may happen if environment is very noisy or distances are very huge In that case ce...

Page 124: ...e can cause a huge impact on your tracking 7 3 2 4 Repeat for all cells White means that everything is good you can freeze the map Green means frozen distance you can freeze the map but be careful with values Yellow means that something seems to be wrong check distances and sensors before freezing Red means some critical misses DO NOT freeze the map Manually measure and enter distances ...

Page 125: ...ws user to manage devices Use double click to put beacon into sleep mode 7 4 1 Stationary beacon beacon Right click to open additional menu There you can Remove beacon from current submap Remove beacon from the whole network Manually setup coordinates x y z 7 4 2 Mobile beacon hedge Right click to open additional menu There you can Remove beacon from the network Setup movement path Upload zones al...

Page 126: ...tions 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 The map freeze no updates of the path ...

Page 127: ...gs 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: ... device Sleep Send device asleep battery economy mode Wake up Wakes up device from sleeping mode Default Drops all device s settings to factory default Time sync Sends time from your PC to hedgehog for stream it out via UART Additional Ctrl feature To apply action to all beacons in the system use Ctrl Left Click on button Applicable only for buttons that turn bold while Ctrl is pressed ...

Page 129: ...ror 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: ...or each device beacon or modem Firmware version of device beacon or modem Architecture type IA or NIA Power supply voltage of the device 5V 0 2V is OK Time from the latest reset Strength of the radio signal from modem to beacons and vice versa Maintain in the range of 25dBm to 80 90dBm Higher value may overload Lower lost packets Strength of the radio signal to modem from beacons and vice versa Ma...

Page 131: ... update measurements More value less location jitter but higher latency Filter of distances as opposed to filter of locations More better filtering but may be too conservative and kill good measurements Keep Enabled normally Switch to cm for backward compatibility TBD If map is frozen new beacons will be accepted in the map if enabled Measured temperature of the processor s crystal TBD ...

Page 132: ...132 7 9 1 2 Advanced settings TBD TBD TBD TBD TBD TBD If modem lost connection it restarts by itself TBD TBD TBD TBD ...

Page 133: ...bps balanced and 500kbps the fastest but the lowest radio range and least immune to interference Logical address of the device Distinguish of beacon from another One of a predefined radio frequency channels Modulation a part of the radio profile Only for advanced users Only for advanced users Only for advanced users Only for advanced users Real carrier frequency ...

Page 134: ...ally Only for advanced users Radio profile settings No need to change manually Only for advanced users Radio profile settings No need to change manually Only for advanced users Radio profile settings No need to change manually Only for advanced users Radio profile settings No need to change manually Only for advanced users Radio profile settings No need to change manually Only for advanced users ...

Page 135: ...135 7 9 1 4 Interfaces TBD TBD TBD TBD TBD TBD TBD TBD Speed of UART Type of protocol Enable or disable receiving raw IMU data with IMU update rate 100Hz ...

Page 136: ...this beacon i e how the beacon hears the modem over radio Keep below 25dBm and above 80dBm to avoid losses of packets Lower end depends on radio profile and interference Strength of the radio signal from this beacon to the modem i e how the modem hears the beacon over radio Keep below 25dBm and above 80dBm to avoid losses of packets Lower end depends on radio profile and interference TBD Real carr...

Page 137: ...temperature Selected device s address Selected radio channel TBD Height must be set for stationary beacons Must also be set for mobile beacons in 1D or 2D modes Frequency of ultrasonic pulses set according to your HW TBD TBD TBD ...

Page 138: ...bedded 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: ...t for each beacon different under one modem One of the pre selected frequency channels Radio profile settings No need to change manually Only for advanced users Radio profile settings No need to change manually Only for advanced users Radio profile settings No need to change manually Only for advanced users Radio profile settings No need to change manually Only for advanced users Real carrier freq...

Page 140: ...ally Only for advanced users Radio profile settings No need to change manually Only for advanced users Radio profile settings No need to change manually Only for advanced users Radio profile settings No need to change manually Only for advanced users Radio profile settings No need to change manually Only for advanced users Radio profile settings No need to change manually Only for advanced users ...

Page 141: ...rasonic pulses set according to your HW 50 default 1 99 lower strength of ultrasonic Keep default Number of ultrasonic pulses the TX beacon emits More stronger but longer echo For small distances 1 10 periods 20 30 for 10 20 meters For 20 m 50 periods Internal settings Automatic or manual gain control Manual can be useful in special conditions too high external audio noise for example ...

Page 142: ...s For advanced users only AGC settings For advanced users only Deep ultrasonic trigger settings For special cases only Deep ultrasonic trigger settings For special cases only Keep ADC Deep ultrasonic trigger settings For special cases only Deep ultrasonic trigger settings For special cases only ...

Page 143: ...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: ...only Deep AGC settings For special cases only Deep AGC settings For special cases only Deep AGC settings For special cases only TBD TBD TBD TBD TBD Enable disable sensor RX1 in map building mode Enable disable sensor RX2 in map building mode ...

Page 145: ...5 in map building mode Enable disable sensor RX1 in map frozen regular work mode Enable disable sensor RX2 in map frozen regular work mode Enable disable sensor RX3 in map frozen regular work mode Enable disable sensor RX4 in map frozen regular work mode Enable disable sensor RX5 in map frozen regular work mode TBD TBD TBD ...

Page 146: ...le or disable receiving IMU ultrasonic sensor fusion data with IMU update rate 100Hz Enable or disable receiving raw IMU data with IMU update rate 100Hz TBD Type of protocol Speed of UART in hedgehog mode The same as with modem The same as with modem Timeout sleep settings ...

Page 147: ...ure 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 TBD TBD TBD ...

Page 148: ...5 MHz allowable Radio bands 868 and 915 but when using antennas at 433 MHz it is possible to use both 315 and 433 MHz Mini RX beacons and Super Beacons are 868 915MHz only It is possible to change the frequency of radio but radio performance can be severely degraded It may be enough for smaller distances up to 10 20 meters but not more ...

Page 149: ... 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 Transparent Orange weak ultrasonic coverage ...

Page 150: ... different colors to make them easier to distinguish Stationary beacons Green center Mobile beacons Dark blue center Examples Stationary beacons 19KHz beacon 22kHz 25KHz beacon 28kHz 31KHz beacon 34kHz 37KHz beacon 45KHz beacon Mobile beacons 19KHz beacon 22kHz 25KHz beacon 28kHz 31KHz beacon 34 kHz 37KHz beacon 45KHz beacon ...

Page 151: ...appear You can Save Load Erase map Map Settings offer some helpful tools it is situated in the right bottom corner of the Dashboard 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 Here is the main tutorial video about maps Help submaps service zones handover zones Check 8 basic steps from unpacking to autonomous d...

Page 152: ... 2 Map layers The map consists of several layers Each layer can be attached to other 1 Ether map grid 2 Floorplan plan scheme picture of a floor where you placed beacons 3 Beacons and Submaps 4 Service zones ...

Page 153: ...e same beacons It makes possible to use 3 beacons instead of 4 It is very helpful in the IA because we are limited with 8 ultrasonic frequencies Example 1 Used 3 beacons for 2 2D submaps Beacon 11 neighboring It belongs to Submap 0 and Submap 1 at the same time 2 vacant frequencies left Example 2 Used 4 beacons for 2 2D submaps Submap 0 and Submap 1 are independent 1 vacant frequency left Differen...

Page 154: ...zones Service zone or service area is an area which serve submap Service zone must be drawn for any submap you build It helps to divide tracking between different submaps and outline the area of responsibility of every submap ...

Page 155: ...different and depends on the mobile beacon s speed and system s update rate We recommend testing it with the speed of your mobile beacon mounted on a person robot copter General recommendation is to make handover smooth and correct make sure that your mobile beacon makes at least 4 refreshes in a handover zone Look at the following examples Example 1 Normal handover zone 14 10 11 12 Handover zone ...

Page 156: ...156 Example 2 Small handover zone Example 3 Very small handover zone 10 11 12 14 Hedge made 2 3 updates MAY BE NOT ENOUGH 10 11 12 14 Hedge made 1 2 updates NOT ENOUGH ...

Page 157: ...157 Example 4 No handover zone 10 11 12 14 Service zones not cross NO HANDOVER ZONE CREATED NO HANDOVER BETWEEN SUBMAPS ...

Page 158: ...ncies in the Dashboard colored in different colors 19KHz beacon 22KHz beacon 25KHz beacon 28KHz beacon 31KHz beacon 34KHz beacon 37KHz beacon 45KHz beacon Learn more about submaps service zones and handover zones here How to create indoor navigation maps Learn more about maps lager than 30x30m here How to build maps lager than 30x30m Learn more about building of large indoor positioning systems he...

Page 159: ...an 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 Products Choose features which you want to get e g MMSW0001 100Hz NMEA0183 Make an order Pay for the feature via PayPal or other methods Order the feature via the Dashboard by providing device ...

Page 160: ...velmind 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 View activate licenses Choose Open license key Choose the license file be careful if you have licenses for multiple devices check CPU ID carefully The features become activated in the Dashboard ...

Page 161: ...ated version of SW changed from 7 0xx to 7 1xx From version 7 200 activated license shows in Dashboard as L If license MMSW0005 activated for all devices it shows L in the window capture of Dashboard next to version of Dashboard If license not activated for one or more beacons in a system it will be reported in the right information window And L will be shown next to version of firmware of each be...

Page 162: ... latest This feature allows to make different submaps for each hedge How to do this it s example with 2 submaps 4 stationary beacons and 2 mobile beacons Awake all 4 stationary beacons just Click on it with Left mouse button Leave 2 of them on Submap0 and move another 2 on Submap1 You will get 2 separate submaps ...

Page 163: ...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: ...icense 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: ...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: ... any settings and corrupting the system That is something like safety button This is the first version of Dashboard Monitoring Mode New functionality and appearance may come with future SW updates How to enable Dashboard Monitoring Mode Click on the Stream capture button It will be renamed in future updates into Dashboard Monitoring Mode If you try to change settings while Dashboard Monitoring Mod...

Page 167: ...or 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: ...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 and turn on one of the pairs and even one of the mics in one pair To turn on of the pairs on Omni mic click on the box RX2 RX4 depends on which Sup...

Page 169: ...169 To turn on one of the mic in a specific pair press on a specific box below RX2 RX4 with CTRL ...

Page 170: ...ith modem Follow this steps to switch on this feature 9 5 1 Connect beacon via USB or radio and expand Misc settings in settings bar 9 5 2 Enable restart modem is disconnected option 9 5 3 Put in a timeout of restart withoout mode in sec 9 5 4 Restart if modem is disconected feature settings completed ...

Page 171: ...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 Zones setup ...

Page 172: ...ne 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: ...es 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 red in the Dashboard ...

Page 174: ...from the 4X4 of Super Beacon or pins on the modem or internal pins in the Mini RX to be automatically switched to 0 or 1 on every time reset when the geofencing zone rules are violated Supported hardware Super Beacon Modem v5 1 Mini RX Follow instruction bellow to use this feature 9 7 1 Connect alarm to your devise according to scheme 9 7 1 1 Geofencing pin scheme for Super Beacon when license act...

Page 175: ...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: ...ion parameter 9 7 4 Choose needed alarm pin mode according to a bellow table 9 7 5 Geofencing alarm settings completed 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 ...

Page 177: ...ks with Super Beacon in NIA only To switch on PPS follow instruction bellow 9 8 1 Connect a speaker to Super Beacon 4x4 pinout according to scheme 9 8 2 Connect beacon via dashboard or radio and expand Interfaces in a settings bar 9 8 3 Choose PPS output in PB pin function option 9 8 4 PPS pin settings completed ...

Page 178: ... feature allows to build complicated multi level maps Every submap correspond some height height corresponds to floors Show all layers floors Show no layers floors Show all objects even if they are out of floors coordinates List of layers floors Active beacons ...

Page 179: ...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: ...180 Floor 5 is enabled Floor 4 is enabled ...

Page 181: ...9 3 Map layers The map consists of several layers Each layer can be attached to other 2 Ether map grid 3 Floorplan plan scheme picture of a floor where you placed beacons 4 Beacons and Submaps 5 Service zones ...

Page 182: ...ad 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: ...oorplan 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: ...d 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 How to use it Make sure that licenses MMSW 0004 and MMSW 0008 activated for all beacons in the system Choose modem ...

Page 185: ...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: ...in Dashbord This feature works from the Modem How to use When Modem connected to PC choose it in Dashboard and put a tick next to Spot filtering parameter This is number of dots when filter Insert Samples number minimum number of dots when filtering starts Insert Max distance between updates maximum distance between points Enable Filtering during tracking for filtering when device moves ...

Page 187: ...ing 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: ...e Z configuration Height of hedges for Vertical submap for stable Z Maximum measuring distance limitation mode Maximum measuring distance between stationary and mobile Service zone thickness value in meters Submap X shift value in meters Submap Y shift value in meters Submap Z shift value in meters Submap rotation value in degrees Plane rotation X value Vertical submaps for stable Z Plane rotation...

Page 189: ...iew 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 Examples of view Y X X Y ...

Page 190: ...190 Z X ...

Page 191: ...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: ... 9 14 1 5 Build the first submap horizontal consisting of all ground beacons 9 14 1 6 Change Limitation distance to manual and input the value in the submap s settings 9 14 1 7 Freeze and lock it 9 14 1 8 Build the second submap vertical horizontally consisting of two wall beacons and two ground beacons neighboring with wall beacons 9 14 1 9 Now freeze it 9 14 1 10 Press axis rotation button 9 14 ...

Page 193: ...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: ...factory warehouse with total area of 10 000 300 000 or more based on smaller submaps 30 1000m2 A submap is a part of the map It includes a subset of used beacons covering part of the navigation area Current version of Marvelmind system can include up to 10 submaps Please also check our help video Nose shows direction of the tracking zone ...

Page 195: ... Submap0 if all beacons are frozen 9 15 1 2 Pressing the button will add a new empty submap to the system 9 15 1 3 Press the button with the submap number Submap0 Submap1 etc select the corresponding submap 9 15 1 4 In this state if the modem button is pushed the list of parameters on the right side represents some of the parameters of the selected submap for example Starting beacon trilateration ...

Page 196: ... removing beacon 10 from Submap0 and adding it to Submap1 9 15 1 9 Now there are two beacons in Submap1 so this submap is built Submap 0 is built as well Now we can freeze both submaps 9 15 1 10 Pressing the freeze map button when the submap is selected will only freeze the selected submap Pressing the freeze map button when the modem button is selected will freeze all submaps 9 15 1 11 Now we hav...

Page 197: ...o use we can wake up and track the mobile hedgehog 9 15 1 15 In some cases the hedgehog can be lost between the submaps if this area is not covered by any of the submaps 9 15 1 16 Submaps can be removed from the system by using the context menu of the submap selection button available with a right click 9 15 1 17 M1 M2 parameter used for precise superposing submaps which do not have common beacons...

Page 198: ...ch other until the red mobile beacons are fully overlapped Replace hedgehog to 1 or 2 points and repeat replacing submap for better superposing The next step is to set Service zones which are zones where tracking is possible If a mobile beacon is out of a service zone it cannot be tracked If you built a complicated map you have to make service zones correctly Service zones must be crossing in orde...

Page 199: ... 2 1 Choose submap click on the submap icon 9 15 2 2 Use SHIFT Left click on the map to create point 9 15 2 3 Use SHIFT Left click on the point to delete it 9 15 2 4 Use Right click on the point and choose Clear all points to delete service zone ...

Page 200: ...maps 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 This is a long and detailed video giving explanations on What is a submap What is a service zone What is a handover zone How to build larger maps easily and successfully many practical advises ...

Page 201: ...lity 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: ...g This feature hugely simplifies autonomous driving and flight Here is an updated protocol with the changes Please also check our help video How to pair beacons 9 17 1 If you want to pair beacons via UART then connect Super Beacons with cable from USART_TX of the Following beacon by address to USART_RX of the Leading beacon by address and from GND to GND of each beacon Note Look at the pictures be...

Page 203: ...ld be too strong Only applicable to NIA 9 17 3 Wake up stationary beacons and freeze the map 9 17 4 Wake up two hedgehogs which were pre installed on robot copter drone 9 17 5 Choose one beacon and go to Pairing mode parameter and activate 9 17 6 Write the Address of paired beacon means number of the beacon current selected hedgehog is paired with 9 17 7 Now choose location against center in param...

Page 204: ...ection 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 9 18 3 7 14 3 Open Hedgehogs pairing 9 18 4 7 14 4 Enter to Address of paired hedge address of the beacon which you are setting up ...

Page 205: ...205 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: ...ts 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: ...207 Choose color and press OK Color applied Now background matches floorplan ...

Page 208: ...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: ...209 Choose any color which suits you and press OK Now the hedgehog and its tracking path will be colored ...

Page 210: ...cense the hedgehog payload is recorded in CSV format System configuration Radio profile kbps User payload data per cycle bytes Real update rate Hz User payload maximum data rate bytes per second 2 stationary beacons 3 meters maximum distance 500 FEC 0 16 0 32 16 512 153 FEC 0 16 0 32 16 512 38 4 FEC 0 9 0 32 8 256 38 4 no FEC 0 14 0 32 13 416 4 stationary beacons 11 meters distance 500 FEC 0 14 0 ...

Page 211: ... Hedgehog with IMU SW and firmware version 5 85 or newer Ultrasound Update rate 4Hz or higher Before you start use the feature check whether accelerometer has been calibrated Check if hedge was not calibrated before Was damaged or fall down Put hedgehog on a flat surface antenna directs up and connect to your PC Run the Dashboard Go to view Accelerometer calibration in open window click autofill a...

Page 212: ...st value for each axe At the end click Calibrate and close the window Calibration is needed to determine g value for each accelerometer axe Start the system Setup the system as usual It is described in paragraph Setting up the system After the ultrasound tracking has started select the hedgehog in the Dashboard go to menu Interfaces on the right and enable Processed IMU data After that it is recom...

Page 213: ... made library or develop your own software tools that can work with the described protocol Our company provides ready made libraries for working with IMU in the following languages python link c link java link An example with 3D imaging of a path on IMU with a frequency of 100Hz in real time here https marvelmind com pics marvelmind imu tracker zip ...

Page 214: ...214 9 24 IMU axis positioning Super Beacon IMU axis positions HW v4 9 IMU axis positions ...

Page 215: ...215 Mini TX IMU axis positions Mini RX beacon IMU axis positions ...

Page 216: ...d v6 240 log files writes in csv format How to use Player Go to File Player This is how the starting player menu looks like Select log opens save log file Play launch the playback Click Select log button and choose the file Now log is loaded Important for recording log file click Save map for saving all the beacons locations and attaching all the beacons to the log Log file also created while Free...

Page 217: ... slider You can move triangles and zoom place cursor on the slider mouse wheel Triangles limit the area in which player works and the statistics is calculated Start of Log time Currently playing time End of Log time Start of Playback End of Playback Play pause button Close player button Select log file ...

Page 218: ...in 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 amount of dots which player looks backward to provide smooth tracking Forward amount of dots which player looks forward to provide smooth tracking Tracking examples Real time player turned off ...

Page 219: ...219 Real time player turned on ...

Page 220: ...nds 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 Y coordinate of hedgehog meters Z coordinate of hedgehog meters address of stationary beacon raw distance from hedgehog to stationary beacon meters The last pair beacon address distance is repeated n times equal stationary beacons quant...

Page 221: ...From modem router Knows position of every mobile beacon in the system Data from the mobile beacons and from the modem can be obtained at the same time if necessary Starting from software version v7 200 real time timestamps are enabled by default 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 ...

Page 222: ...222 10 1 Super beacon external interface pinout top view 4x4 pinout for Super Beacon 4x4 pinout for Super Beacon 2 ...

Page 223: ...223 10 2 Beacon HW v4 9 external interface 4x4 pinout top view ...

Page 224: ...224 10 3 Modem HW v4 9 external interface pinout top view ...

Page 225: ...t to turn off the beacon with DIP switches If you solder bad and kill the beacon Marvelmind team won t be responsible for it To get UART data streaming from beacon Mini RX you must solder to the pins on the board BAT you can disconnect internal battery and supply here an external power source of 3 5V 5 2V to the point with current up to 50mA ...

Page 226: ...t 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: ...per Modem 3 Supports Supports Doesn t Support Doesn t Support Beacon Mini RX Supports Supports Supports Supports Beacon Mini RX 2 Supports Supports Supports Supports Beacon Mini RX 3 Supports Supports Doesn t Support Doesn t Support Super Beacon Supports Supports Supports Supports Super Beacon 2 Supports Supports Supports Supports Super Beacon 3 Supports Supports Doesn t Support Doesn t Support In...

Page 228: ... 500 kbps Won t be available because of specific processor configuration Example 4 Modem HW v 5 1 Super Beacon 2 and Beacon Mini RX 3 From this table we can see that in this configuration you can use 38 kbps and 100 kbps radio profiles because Beacon Mini RX 3 doesn t support 400 kbps and 500 kbps Won t be available because of specific processor configuration 38 Kbps 100 Kbps 400 Kbps 500 Kbps Mod...

Page 229: ...ther 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 Enable Wi Fi Insert Wi Fi network name and Wi Fi network password of your wireless connection and press Write button ...

Page 230: ...i 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: ...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 Press Write button ...

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

Page 233: ...eacons is ensured by ultrasonic signals from the stationary beacons of this submap The main parameters of a submap are its size frequencies and TDMA position of stationary beacons by which mobile beacons can not only be positioned but also determine in which submap the mobile beacon is located Check before start 8 basic steps from unpacking to autonomous drive flight Step by step guide on how to b...

Page 234: ... cycle in which it should emit and the number of cycles of radiation after which these numbers are repeated is set We have 3 TDMA types Type 1 TDMA as NIA multiple beacons working algorithm Type 2 Full overlapping TDMA For better coverage in 2D See more on TDMA chapter Type 3 TDMA for huge IA maps building described below For building huge maps in IA we need TDMA Type 3 Example 1 19kHz j0 T1 31kHz...

Page 235: ... SM0 SM3 SM4 TDMA 1 TDMA 2 TDMA 3 TDMA 1 TDMA 2 TDMA 3 TDMA 1 TDMA 2 TDMA 3 TDMA 1 TDMA 2 19kHz 19kHz 19kHz 19kHz 19kHz 19kHz 19kHz 19kHz 19kHz 19kHz 19kHz 31kHz 31kHz 31kHz 31kHz 31kHz 31kHz 31kHz 31kHz 31kHz 31kHz 31kHz 45kHz 45kHz 45kHz 45kHz 45kHz 45kHz 45kHz 45kHz 45kHz 45kHz 45kHz 19kHz 19kHz 19kHz 19kHz 19kHz 19kHz 19kHz 19kHz 19kHz 19kHz 19kHz 37kHz 37kHz 37kHz 37kHz 37kHz 37kHz 37kHz 37kH...

Page 236: ...rate reduces twice 11 3 4 Mount stationary beacons in according to the TDMA chapters in Placement manual 11 3 5 Wake up beacons included in Submap0 Enter the values in the table distance between beacons Freeze it If necessary set the shift rotation height etc Draw a service zone More info Submaps feature description 11 3 6 Wake up beacons included in Submap1 If the submap uses beacons from other s...

Page 237: ...first 19kHz 31kHz submap then 31kHz 45kHz submap You can also use absolutely the same set of frequencies in submaps Submap0 19kHz 31kHz Submap1 19KHz 31KHz 11 3 8 Activate mobile beacons 11 3 9 Freeze the entire map Now you can work with it 11 3 10 If you have any jumps that can mean that you have wrong submaps positions Unfreeze all and try to move it until you get their correct positions TDMA mo...

Page 238: ...238 How to change modes Choose hedge Go to Ultrasound TDMA mode Left Click to change ...

Page 239: ...0kbps or any you need It is situated in the Dashboard on the right side of the Dashboard screen Tip Change the beacons profile before modem s in order not to lose your beacons It allows you to do it remotely 2 Room dimensions tracking areas Update rate is also having linear dependence with tracking distance distance between stationary and mobile beacon Longer distance lower update rate Smaller dis...

Page 240: ...same settings as in b but Real Time Player with settings 16 i e it takes into account up to 16 previous readings before giving out the new one What affects delay Real Time Player in the Dashboard For NIA Real Time Player in hedge For IA Window of averaging and Distance filter settings in modem For NIA Prefiltration coefficient and Ultrasonic filtering settings in hedge For IA How to decrease laten...

Page 241: ... 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 Latency reduced Learn more here How to increase location update rate ...

Page 242: ...sound in metal is much higher than the speed of sound in the air The ultrasound signal may even look stronger than the real signal propagated through the air due to the lower amount of losses of ultrasonic in metal than in the air It is good practice to place beacons on something relatively soft or something that does not conduct sound Place beacons in a way that provides the proper ultrasonic cov...

Page 243: ...e it also gives information on the background noise level of the signal echo etc With this tool it is easy to set up the proper ultrasonic threshold on the Dashboard Echo External noises look similarly Thus choose the ultrasonic threshold below this value for example 500 to 2000 Type the reference beacon number and press Enter Choose the beacon to test Ultrasonic signal front Trigger red line Emit...

Page 244: ...ters The best things to do in this case Identify the beacons that are affected Usually they are those that are the closest to the source of noise Try to reposition them Manually reduce the gain of the affected stationary beacons so that the signal from the mobile beacon would have a 1000 1800 amplitude That would give the best signal to noise ratio Don t make the gain too high The noise will be am...

Page 245: ...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: ...formulas are given in this article https en wikipedia org wiki Trilateration As you see the position of mobile beacons X Y Z is calculated from positions of 3 stationary beacons which are set by values of d i j One of the beacons was shifted to 0 0 position to simplify formulas in the article In formulas for X Y we see d and j in denominators This means that with low values of d and j small error ...

Page 247: ...the Dashboard Make sure that the beacon has IMU on board open View Accelerometer menu and view gyro data In the presence of IMU graphics in these windows should display the angular velocity and acceleration when moving the mobile beacon turn it in hands Close the window of the accelerometer and gyro data Open the calibration window View calibrate the accelerometer ...

Page 248: ...wards calibration Z The beacon is turned upside down the antenna pointing down calibration Z The beacon is on the end the sensor RX1 is pointing towards the table calibration Y The beacon rests on the end the RX3 sensor points toward the table calibration Y The beacon rests on the end the RX2 sensor is directed towards the table calibration X In order not to interfere with the USB connector the be...

Page 249: ...nd system cannot determine north automatically so the user should make corrections after building and freezing the map It can be done in one of two ways Option 1 Rotate the Marvelmind map using the dashboard as shown on the screenshot below You can also view the video https www youtube com watch v AsYXrtg7aVU feature youtu be Option 2 Enter the angle correction the angle shown on screenshot on the...

Page 250: ...arvelmind mobile beacon can be connected to Pixhawk and to any other hardware or software that inputs GPS according to the NMEA0183 protocol The mobile beacon can send GPS data via UART and USB virtual UART interfaces For further explanation please check out this document ...

Page 251: ...nds 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: ...shown in section 2 3 This communication on the robot side is implemented in the Arduino example on our site As you can see in the protocol robot should not request the waypoints the hedgehog will send the waypoints when they will be transmitted from dashboard 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...

Page 253: ...or 1 minute 3 Configurate paths and points Use Shift Left mouse button click to create point click on point to remove 4 Press Run Robot will follow the path that you draw 5 If you put a tick on Run forever Robot will move till you press stop button in control panel or before obstacle detected ...

Page 254: ...oving It is also very important to provide proper ultrasonic coverage to the stationary beacons when the map is being formed Mobile beacon hedgehog or hedge is designed to be placed horizontally The mobile beacon has four horizontal and one vertical sensor each covering its own sector Together they cover 360 degrees horizontally and 180 degrees in the upper hemisphere The lower hemisphere is highl...

Page 255: ...he modem disconnect the antenna from the beacon Monitor the Received Signal Strength Indicator RSSI It must be in the range of 25 to 70dBm An RSSI of less than 70dBm will work too but packet losses may start occurring The quality of the radio connection very much depends on external interference as well because the used band is ISM either 915MHz or 433MHz and there are numerous co existing systems...

Page 256: ...rking sensor The rest sensors are turned off Changing sensors settings could be found in the panel in the upper right corner of the Dashboard during your beacon is connected to the computer Beacon 3 RX3 and RX4 emit ultrasound in normal mode for better ultrasonic signal exchange with Beacon 2 In frozen mode RX2 added as working sensor The rest sensors are turned off Beacon Beacon 2D Hedgehog 7 ...

Page 257: ...l 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: ...arging Battery stops charging when fully charged when this happens led goes out So led turns off and on periodically what means that beacon fully charged and led turns on again when battery drops a few millivolts You can always find out the battery level by connecting it to Dashboard via USB or radio Status of charge 4 1V 4 2V absolutely fully charged 3 6V 4V good charged 3 2V 3 6V very low charge...

Page 259: ...feature in which case the tracking will not be interrupted 5 How the system works in very low and very high temperatures System is designed for normal office like conditions and temperatures 0 ºС 40 ºС You can see some other types of beacon outdoor explosion safe etc in the comparison table We also possible to produce some special versions which will suit your case Please write to info marvelmind ...

Page 260: ... The ISM band license free band for industrial science and medical applications in those countries is 915MHz In Europe it is 433MHz 11 Device do not connect via USB Use USB cable with long metal part If you have any problems with USB connection change the cable first One cable can work for one device and do not work for other 12 Does the orientation of the beacon matter Yes it is Place and orienta...

Page 261: ...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 Otherwise modem may be calling on a wrong channel or something Press Erase map when modem connected to PC ...

Page 262: ...e motors and other noise sources as much as possible Use USB cable with long metal part If you have any problems with USB connection change the cable first One cable can work for one beacon and do not work for other Be sure that you use SW from the same pack When updating the SW please press Default button to make sure that beacons really have default settings Otherwise modem may be calling on a w...

Page 263: ...263 14 Contacts For more information about company check About us For additional support please send your questions to info marvelmind com ...

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