Marvelmind IA-04-2D-Badge, Operating Manual, Page: 13 / 263

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1. Executive summary
Marvelmind Indoor Navigation System is an off-the-shelf indoor navigation system, designed
to provide precise (
±2cm ) location data to autonomous robots, vehicles (AGV), and copters.
It can also be used to track moving objects via mobile beacons attached to them. Other
applications include, for example, forklifts, virtual reality (VR) systems, helmets for
construction workers or miners, etc.
The navigation system consists of a network of stationary ultrasonic beacons interconnected
via radio interface in a license-free band, one or more mobile beacons installed on objects to
be tracked and modem providing gateway to the system from PC or other computers.
Mobile beacon’s location is calculated based on a propagation delay of an ultrasonic pulses
(Time-Of-Flight or TOF) between stationary and mobile beacons using trilateration algorithm.
The system can build the map of stationary beacons automatically . 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 to ensure optimal performance of the Marvelmind
Indoor Navigation System:
- For 3D (X, Y, Z) tracking: an unobstructed line of sight (hearing) between a mobile beacon
and 3 or more stationary beacons within 30 meters
- For 2D (X, Y) tracking - an unobstructed line of sight (hearing) between a mobile beacon
and 2 or more stationary beacons within 30 meters
Fig. 1: Example of Starter Set based on Super-Beacons