Marvelmind Indoor Navigation System, Operating Manual

Page 1: ...1 Marvelmind Indoor Navigation System Operating Manual V2017_05_20 www marvelmind com ...

Page 2: ...ftware Dashboard 14 4 3 Using the system after the very first setup 19 4 4 DFU programming 20 5 Interfaces 23 5 1 Beacon HW v4 9 external interface 4x4 pinout 24 5 2 Modem HW v4 9 external interface pinout 25 6 Advanced system settings and optimization 26 6 1 Using oscilloscopes 26 6 1 1 Monitor ultrasonic signal from one beacon to another 26 6 1 2 Proper ultrasonic signal detection 27 6 2 Using h...

Page 3: ...elmind_navigation_system_manual_HW_v4 5 pdf Description of HW v4 9 added Introduced plastic housing for beacons and modem Introduced 915MHz variant for the US market HW v4 9 only General updates and description improvements V2016_05_21 Detailed description of HW v4 5 added 5 sensor beacon New Dashboard with multiple sub maps introduced Some less relevant older HW versions descriptions are removed ...

Page 4: ...calculated based on the propagation delay of ultrasonic signal Time Of Flight or TOF to a set of stationary ultrasonic beacons using trilateration Stationary beacons form the map automatically No manual entering of coordinates or distance measurement is required If stationary beacons are not moved the map is built only once and then the system is ready to function after 7 10 seconds after modem is...

Page 5: ...er distance higher update rate Depends on the number of mobile beacons update rate for 25Hz for 1 mobile beacon 25Hz 2 for 2 mobile beacons and 25Hz 3 for 3 mobile beacons Depends on the radio interface profile 500kbps vs 38kbps Slightly depends on the number of stationary beacons not like for mobile beacons Power supply Internal LiPol battery 1000mAh Battery lifetime totally depends on the usage ...

Page 6: ... 3 1 What s in the box Starter Set 4xStationary beacons 1xMobile beacon aka hedgehog 1xModem Router Exact appearance may wary depending on the Hardware version Characteristics are kept the same or better unless specially noted ...

Page 7: ...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 8: ...8 3 3 Indoor GPS system close up and internal view LiPol 3 7V 1000mAh ...

Page 9: ... provided for the maximum territory Proper ultrasonic coverage is the utmost important element for the system to function effectively Stationary beacons emit and receive ultrasound when the map is being formed And they only receive the ultrasound when the map is formed and frozen Stationary beacons have no exterior difference with mobile beacons Inertial measurement unit IMU is not installed on th...

Page 10: ... Dashboard System may contain one or several mobile beacons Current implementation relies on time division multiple access approach Thus if two mobile beacons are activated they share the same system bandwidth It means that if 16 Hz update rate is selected 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 1...

Page 11: ...itor it interact with the Dashboard It can be placed anywhere within radio coverage to have permanent radio connection with all beacons usually in the radius of up to 100 meters with antennas from Starter Set The radio coverage can be further extended to a few hundred meters by using lower bitrate of 38kbps and full size 165mm for 433MHz band antennas tested up to 400 m in ideal conditions There a...

Page 12: ...ch at all unless you want to store the beacon on the shelf Then the mode 1 is better and recommended 3 Power ON DFU ON DFU programming mode It is used for the very initial SW uploading or when the HEX SW cannot be uploaded from the Dashboard for some reasons Charging is done automatically every time when the USB charger is attached to the board LED 1 is active It takes 1 2h to fully charge the boa...

Page 13: ...atch the help video https youtu be IyXB3UXHdeQ Note that the video is shot for the previous HW version 4 5 4 1 2 Check that your board is charged see that all switches on beacons are in the correct position Power ON DFU OFF See paragraph detailed description and charging 4 1 3 Press Reset button on beacon If LED2 is not blinking it means your board is turned off or discharged Check the position of...

Page 14: ...er through USB usually it means that the driver is not installed To install the driver download it with link at top and run installation file click on the link under install the driver 4 2 5 Ensure that a You are programming modem s SW to modem and beacon s SW to beacon b You are using SW for 4 9 if you have HW v4 9 c You have the SW from the same SW pack i e the Dashboard SW and modem SW and beac...

Page 15: ...0 Connect the modem router via USB to the Windows PC with the Dashboard installed 4 2 11 Run the Dashboard 4 2 12 In the left corner of the Dashboard Modem shall appear connected 4 2 13 Wake up all beacons by clicking on the buttons in the Dashboard on the below panel 4 2 14 It may take up to 8 seconds for beacons to wake up 4 2 15 If modem is not active and is not powered the beacons will go asle...

Page 16: ...cted beacons on the map scroll it so you will be able to find their addresses 4 2 18 Also double click on the device to go into sleeping mode and double clicking to wake up 4 2 19 The map will form automatically and zoom in automatically 4 2 20 If the map does not form well Check the Table of distances in the left corner of the Dashboard Cells must be colored in white it means the distances betwee...

Page 17: ...cause usually there is an obstruction of some sort in the between the beacons Reset them Use View Table of distances to monitor the measured distances between beacons 4 2 21 Freeze the map by clicking the button Stationary beacons will stop measuring relative distances and will be ready to measure distance from the mobile beacon s 4 2 22 Turn on and wake up mobile beacon similar to the operations ...

Page 18: ...the settings for sensors manually by clicking on the panel in the right corner of the dashboard and make grey cells green to turn on sensor But for starting it is very much recommended to use default settings on all beacons and modem 4 2 24 After you froze the map of stationary beacons wake up the mobile beacon After it wakes up it will be traceable in 5 7 seconds 4 2 25 By now the system must be ...

Page 19: ...adn t moved stationary beacons in order to start using the system again you simply have to power up the modem The map is stored inside the modem and the system will be ready to handle your mobile beacons in 5 seconds after that More help you can find here https www youtube com channel UC4O_kJBQrKC NCgidS_4N7g videos ...

Page 20: ...ng you shall use DFU SW not HEX SW 4 4 3 Download http www marvelmind com downloads Software zip 4 4 4 Use DFU programmer and upload DFU SW into beacon Install DFU driver http www2 st com content st_com en products development tools software development tools stm32 software development tools stm32 programmers stsw stm32080 html Install DfuSe SW 3 04 or 3 0 3 or 3 0 5 whatever works the best for yo...

Page 21: ...DIP switch in normal mode Power ON DFU OFF Start the Dashboard and press HW reset button Check SW on the beacon afterwards Everything should be OK with the SW now DFU programming is completely finished 4 4 5 Upload the regular beacon s HEX SW from http www marvelmind com Download to make sure that the latest set of SW is used 4 4 6 After the DFU SW upgrade the futures SW upgrades can be done in a ...

Page 22: ...ng please check and do the following Change your operation system from Windows10 to Windows7 and vice versa Install other DfuSe version Install DfuSe SW 3 04 or 3 0 3 or 3 0 5 whatever works the best for your Windows Check if the DIP switch is in correct position ...

Page 23: ...he system 1 From mobile beacons o Each mobile beacon knows its own position and doesn t know position of other mobile beacons 2 From modem router o Knows position of every mobile beacon in the system One can get data from mobile beacons and from the modem at the same time if need to do so List of supported interfaces is shown below More on the interfaces can be found on the link http marvelmind co...

Page 24: ...24 5 1 Beacon HW v4 9 external interface 4x4 pinout ...

Page 25: ...25 5 2 Modem HW v4 9 external interface pinout ...

Page 26: ...nic signal from one beacon to another Use Dashboard View Oscilloscope to monitor ultrasonic signal from one beacon to another It is a very powerful tool because it gives also information on the background noise level of the signal echo With this tool it is easy to set up the proper ultrasonic threshold in the Dashboard Echo External noise looks similarly Thus choose the ultrasonic threshold below ...

Page 27: ...ose that are the closest to the source of noise 2 manually reduce the gain of the affected stationary beacons so that the signal from the mobile beacon would have 1000 1800 amplitude That would give the best signal to noise ratio Don t make the gain too high The noise will be amplified but the desired signal will be saturated and signal to noise ratio will be poor The gain settings may be very non...

Page 28: ...28 6 2 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 29: ...ge in that area It is advised to place the mobile beacon as high as possible on the robot if stationary beacons are above the mobile beacon This minimizes shadows from other objects people etc Example of proper positioning of the mobile beacon https youtu be PFgNPkLGCDk the beacon is placed horizontally and above other objects that can produce shadow to the stationary beacons Keep the radio signal...

Page 30: ...al tube Propagation loses inside metal are much smaller than in the air Moreover the tube may act as a low loss waveguide If the tube is solid enough and long enough there may be a weird effect when the receiving beacon receives the signal sooner than expected i e sooner than the distance divided by the speed of sound in air That happens because of speed of sound in metal is much higher than speed...

Page 31: ... only by pressing HW reset button In regular sleep mode the beacons wake up automatically every 2 seconds for 20ms to monitor external calls from modem router That brings some additional consumption but still leaves several months in sleep mode Active mode work time directly depends on the location update rate For example With the standard 1000mAh battery and 16Hz update rate the expected work tim...

Page 32: ...6 6 Different colors in the Dashboard menu To be added in the future Manual releases 6 7 Ultrasonic coverage To be added in the future Manual releases 6 8 Submaps To be added in the future Manual releases ...

Page 33: ...33 7 Frequently Asked Questions http www marvelmind com forum viewforum php f 2 8 Contacts For more support you may send us your questions to info marvelmind com We will guide and advise you ...