Related Manuals for Marvelmind Beacon HW v4.9
Summary of Contents for Marvelmind Beacon HW v4.9
- Page 1 User Manual Beacon HW v4.9 915MHz Marvelmind Indoor Navigation System Operating instructions for beacon V2017_05_02 www.marvelmind.com...
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Page 2: Table Of Contents
The very first setup routine of your device ..................... 11 Setup software (Dashboard) ........................... 12 Using the system after the very first setup ..................... 16 Interfaces ................................17 Beacon HW v4.9 external interface 4x4 pinout ..................18 Advanced system settings and optimization ....................19 Using oscilloscopes ............................19 6.1.1 Monitor ultrasonic signal from one beacon to another ................ -
Page 3: Executive Summary
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. - Page 4 Key capabilities: − Distance between neighboring beacons: up to 50 meters. Recommended distance in real-life environment – up to 30m * − Coverage area: Up to 1000 ㎡ for Starter Set Coverage for larger areas is done similar to cellular networks; can be much larger, than 1000 ㎡...
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Page 5: Basics Of The System
3. Basics of the system What’s in the box Starter Set: 4xStationary beacons 1xMobile beacon (aka “hedgehog”) Deleted part * Exact appearance may wary depending on the Hardware version. Characteristics are kept the same or better unless specially noted... -
Page 6: Indoor Gps Architecture
Indoor GPS architecture Marvelmind Indoor Navigation System provides high-precision (± 2 cm) indoor coordinates for autonomous robots and systems (“indoor GPS”). Brief description of the key elements of the system is given on scheme below:... -
Page 7: Indoor Gps - Beacon's Inside View
Indoor GPS – beacon’s inside view... -
Page 8: System Elements
System elements 3.4.1 Stationary beacons Shall be mounted on walls and ceilings – usually, above the robot and ultrasonic sensors facing down – to provide the most robust unobstructed coverage of ultrasonic signal to robot. However, for automatic landing and indoor navigation of copters, for example, it is recommended to place beacons on the floor/ground and install the mobile beacon horizontally downwards looking on the belly of the copter Position for the beacons and angles of... -
Page 9: Mobile Beacon ("Hedgehog")
Location data is obtained either from the “hedgehog” via USB (virtual UART), UART, SPI. More on interfaces: http://www.marvelmind.com/#Interfaces Data from the beacon is sent in a streaming format identical that of GPS (NMEA 0183) There is 915MHz version available. Proprietary radio protocol is used for communication and synchronization The “hedgehog”... -
Page 10: Charging Beacons And Other Details
3.4.4 Charging beacons and other details The Beacon has 5 sensors (transducers) RX1, RX2, RX3, RX4, RX5 DIP switch modes: 1) Power OFF, DFU OFF: charging is possible; beacon is disconnected from power. This mode is recommended, if you want to keep the battery fully charged for many months 2) Power ON, DFU OFF: normal working mode for beacon. -
Page 11: Setting Up The System
4. Setting up the system The very first setup routine of your device The routine below describes the very first setup of the system. If you have done that already, please, jump to the chapter Using the system after the very first setup below. -
Page 12: Setup Software (Dashboard)
Setup software (Dashboard) 4.2.1 After charging boards download the latest stable software package from http://www.marvelmind.com/#Download 4.2.2 Select the SW version of the portable or distribution and unzip 4.2.3 Then run the Dashboard and update the SW using Dashboard => Firmware =>... - Page 13 Now you can check the height position of the beacons, RSSI, radio channel, threshold etc. on the panel in the right corner of the Dashboard 4.2.9 Notice, that there are 99 beacon’s addresses available. If you don’t see some of your connected beacons on the map, scroll it so you will be able to find their addresses 4.2.10 Also double click on the device to go into sleeping mode and double clicking to wake up 4.2.11 The map will form automatically and zoom in automatically...
- Page 14 If you see in the table some empty cells or marked yellow/red, it is an indication that distances between some beacons are measured inconsistently or not measured at all. Try to check what the problems with those beacons are. Try to re-position them, because, usually, there is an obstruction of some sort in the between the beacons.
- Page 15 4.2.14 Turn on and wake up mobile beacon similar to the operations with the stationary beacon: https://youtu.be/A4aRsjH2-_E 4.2.15 If you see on the devices’ panel beacon colored orange (see pic. #1) it means some settings between beacons are different, for example: some sensors are off or some ultrasonic or radio settings are different.
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Page 16: Using The System After The Very First Setup
Using the system after the very first setup 4.3.1 To be described in another manual... -
Page 17: Interfaces
There are two different ways to get mobile beacons’ location data from the system: From mobile beacons Each mobile beacon knows its own position and doesn’t know position of other mobile beacons List of supported interfaces is shown below: More on the interfaces can be found on the link: http://marvelmind.com/#Interfaces... -
Page 18: Beacon Hw V4.9 External Interface 4X4 Pinout
Beacon HW v4.9 external interface 4x4 pinout... -
Page 19: Advanced System Settings And Optimization
6. Advanced system settings and optimization Start using advanced settings only when you know what you are doing. If you ran into troubles, connect beacon to PC via USB and use Default button. It uploads “factory settings” to the board while keeping the device address untacked Using oscilloscopes 6.1.1 Monitor ultrasonic signal from one beacon to another... -
Page 20: Proper Ultrasonic Signal Detection
Rotors of drones/copters Marvelmind Indoor Navigation System uses proprietary 31kHz frequency for ultrasonic signal and employs additional filtering to combat external noise. And it makes the system rather immune against “usual suspects”. However, if the external noise is too strong;... -
Page 21: Using Hedgehog.log File
Using hedgehog.log file – System automatically records all measured positions in hedgehog.log file that is stored in the same folder as the Dashboard.exe file... -
Page 22: Important Aspects And Hints
Important aspects and hints The single most important aspect for the system to work well is to have proper ultrasonic coverage Each sensor has an ultrasonic beam of ~90 degrees. Outside of that range the emitting power and sensitivity drops quite rapidly. From the left, right, or back sides of the ultrasonic sensor the signal is received highly attenuated. -
Page 23: Deep Hints
in the range of -25…-70dBm. Lower than -70dBm will work too, but packet losses may start occurring. The quality of radio connection very much depends on the external interference too, because the used band is ISM and there are many systems co-existing. Deep hints Avoid placing beacons on long sound conducting objects This is a very rare case, but may happen in some special circumstances... -
Page 24: Table: Power Consumption
Table: Power consumption Recommended mode of operations: Stationary beacons are powered from a clean source of +5V USB Mobile beacon is powered from a clean source of +5V USB from a robot Operations based on purely own installed batteries is also supported and possible For fully autonomous and easy use and testing, each beacon has its own power LiPol battery Typical power consumption in deep sleep mode is 50uA that gives ~2y shelf time with a... -
Page 25: Different Colors In The Dashboard Menu
Different colors in the Dashboard menu To be added in the next Manual release Ultrasonic coverage To be added in the next Manual release Submaps To be added in the next Manual release... -
Page 26: Frequently Asked Questions
4. Frequently Asked Questions http://www.marvelmind.com/forum/viewforum.php?f=2 5. Contacts For more support, you may send us your questions to info@marvelmind.com. We will guide and advise you 6. FCC Statement Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment.
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