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1. Executive summary
Marvelmind Indoor Navigation System is off-the-shelf indoor navigation system designed for
providing precise (+-2cm) location data to autonomous robots, vehicles (AGV) and copters.
It can also be used for tracking other objects, where the mobile beacon can be installed, for
example, in virtual reality (VR) systems.
The navigation system is based on stationary ultrasonic beacons united by radio interface in
license-free band. Location of a mobile beacon installed on a robot (vehicle, copter, human,
VR) is calculated based on the propagation delay of ultrasonic signal (Time-Of-Flight or
TOF) to a set of stationary ultrasonic beacons using trilateration.
Key requirement for the system to function properly is:
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An unobstructed sight by a mobile beacon of three or more stationary beacons
simultaneously - for 3D (X, Y,Z) tracking
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An unobstructed sight by a mobile beacon of two stationary or more stationary
beacons simultaneously – for 2D (X,Y) tracking
