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Marvelmind Super-MP-3D - User Manual

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Marvelmind Indoor Navigation System
Operating manual
v2022_08_24
www.marvelmind.com

Table of Contents

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Summary

Executive Summary

Key Capabilities

Details on the system's parameters like distance, coverage, precision, update rate, and power.

Legend

Explanation of icons and signs used in the manual to highlight key points.

Basics of the System

Whats in the Box

Lists the contents of the Starter Set Super-MP-3D and IA-04-2D-Badge.

Indoor Navigation System Architectures

Description of Non-Inverse (NIA) and Inverse (IA) system architectures.

Architectures Comparison

Compares NIA, IA, and MF NIA architectures based on typical usage, accuracy, and update rate.

Architectures Elements

Indoor GPS System Close-up and Internal View

System Elements

Control System (Dashboard)

Details the Dashboard app for system setup, tuning, and data acquisition.

Stationary Beacon

Information on mounting, placement, and functionality of stationary beacons.

Mobile Beacon a.k.a. Hedgehog

Details on mobile beacon placement, operation, and integration with other systems.

Modem

Different Types of Modems

Overview of available Marvelmind modem types: HW v5.1, HW v4.9, and Super-Modem.

Super-Modem

Detailed features and capabilities of the Super-Modem.

Modem HW v5.1

Comparison and features of Modem HW v5.1, highlighting improvements over v4.9.

Modem HW v4.9

Features and performance of Modem HW v4.9, now receiving only bug-fixing updates.

Different Types of Beacons

Super-Beacon

Detailed features of the Super-Beacon, including its dual-use capability and outdoor version.

Beacon Mini-RX

Information on the Mini-RX beacon's RX-only functionality, sensitivity, and applications.

Beacon Mini-TX

Details on the Mini-TX beacon's TX-only capability, size, battery, and embedded IMU.

Beacon Industrial-TX-Metal

Specifications and pinouts for the IP67-protected Industrial-TX-Metal beacon.

Beacon Industrial-RX

Specifications and pinouts for the IP67-protected Industrial-RX beacon.

Industrial Super-Beacon Metal-25 kHz

Features of the Industrial Super-Beacon Metal-25kHz, including dual-use and IP67 protection.

Beacon HW v4.9

Information on Beacon HW v4.9 usage in NIA and IA architectures, including reception diagrams.

Software Pack

Download and Open

Instructions on downloading and unpacking the Marvelmind SW and API package.

Dashboard Folder

Details on the structure of the Dashboard folder for Linux and Windows.

Software IA Folder

Contents of the Software IA folder for building maps in Inverse Architecture.

Software NIA Folder

Contents of the Software NIA folder for building maps in Non-Inverse Architecture.

Super-Modem Folder

SW Settings Descriptions

Super-Modem’s SW Update and Configuration Description

Step-by-step guide for updating and configuring Super-Modem software.

How to Update Super-Modem (for SW version from v7.000)

Procedure for updating Super-Modem SW via USB without disassembly.

How to Update Super-Modem’s SW (for SW version older than v7.000):

Guide for updating Super-Modem SW for older versions using a micro-SD card.

Super-Modem’s Configuration

Instructions on modifying Super-Modem settings via configuration files on the micro-SD card.

SW Update (USB;Radio;DFU)

SW Update via USB

Step-by-step process for updating software via USB connection.

SW Update via Radio

Procedure for updating software remotely using radio connection.

SW Update via DFU Programming

Detailed guide for DFU programming to revive beacons or update firmware.

Setting Up the System

Introduction

Overview of system setup, recommending NIA for beginners and introducing IA.

DIP Switch Positions

Explanation of DIP switch configurations for different device modes: OFF, Work/HEX, and DFU.

Starter Set Super-MP-3 D (NIA and IA)

Step-by-step guide for setting up the Super-MP-3D starter set in NIA and IA.

Starter Set HW v4.9

Guide for initial setup of the Starter Set HW v4.9 in NIA configuration.

Starter Set NIA-SmallDrone

Initial setup guide for the NIA-SmallDrone starter set.

Starter Set Industrial-NIA-01

First-time setup guide for the Industrial-NIA-01 starter set.

Dashboard Menu and Parameters

Dashboard General View

Explains the layout and key components of the Dashboard's main interface.

Diagnostics Messages Window

Details the Diagnostics window for system messages and error reporting.

Table of Distances

Explains how the table of distances displays beacon measurements and how to manually input them.

Devices List

Information on managing devices within the system, including search, add, and delete functions.

Visualization Settings

Functions for controlling the visualization process, such as clearing maps and saving screenshots.

Map Settings

Tools for saving, loading, and erasing maps, and for building new or upgrading current maps.

Modem;Beacon’s Quick Control Panel

Overview of the quick control panel for interacting with system devices like reset and sleep.

Ceiling and Mirroring Buttons on the Dashboard

Explanation of the Ceiling and Mirroring buttons for map display adjustments.

Detailed Settings

Modem Settings

Basic and advanced settings for modem configuration and operation.

Beacon’s Settings

Configuration options for beacon parameters, including basic, IMU, and radio settings.

Radio Frequency Band and Carrier Frequency

Different Hedgehog Colors in the Dashboard

Different Beacons’ Colors in the Dashboard

The Map

Introduction

Overview of the map as the biggest unit, consisting of submaps and forming the entire system layout.

Map Layers

Description of the different layers that constitute the map: Ether, Floorplan, Beacons/Submaps, and Service zones.

The Submap

Explanation of submaps as logical units for organizing beacons and building large maps.

Submaps’ Service Zones

Details on defining service zones for submaps to divide tracking areas and outline responsibilities.

Handover Zones Setting

How to create handover zones between submaps to ensure smooth mobile beacon transfer.

Beacons’ Ultrasonic Frequencies

Features

Licenses

Information on different types of licenses for modems and beacons, and how to activate them.

Islands Feature

Guide on using the Islands Feature license to create and manage separate submaps for each hedgehog.

Dashboard Monitoring Mode

Enabling and using the Dashboard Monitoring Mode for observing tracking without modification.

Microphone Settings

Configuration of microphone settings for different Marvelmind devices.

Restart if Modem is Disconnected

Enabling the feature to reset beacons when connection to the modem is lost.

Geofencing Zones

Creating geofencing zones to prevent crossing dangerous areas and trigger alarms.

Geofencing Alarm (MMSW0006 License)

Activating the geofencing alarm feature using a dedicated license and pin.

PPS (Pulse Per Second) Signal

Using the PPS signal feature from Super-Beacon for timing synchronization.

Floors Feature (FN0011)

Enabling the floor feature to build complicated multi-level maps with height correspondence.

Filters

Features to improve tracking stability and avoid jumps using spot filtering and window averaging.

Submap Settings

Configuration options for each submap, including coordinates, rotation, and visibility.

Axis Rotation Feature (FN0002)

Enables map rotation for multifloor tracking, allowing different views.

Vertical Submaps Feature (FN0003)

Feature for drone flights, providing solid Z data for vertical movement.

Submaps Feature (FN0004)

Powerful feature for building large maps by combining smaller submaps.

Handover Zones Setting

Setting up handover zones between submaps for quality handover in complex maps.

Paired Beacons (FN0005)

Pairing hedgehogs to work as a single beacon, enabling direction tracking.

Paired Microphones

Connecting additional microphones and enabling 'Paired microphones' mode for direction detection.

Map Settings

Tools for saving, loading, and erasing maps.

Background Color

Feature to change the Dashboard background color for better visual tracking.

Hedge Color Change (FN0006)

Assigning unique colors to mobile beacons for better map recognition.

Payload Streaming (FN0007)

Streaming user payload from mobile beacons to modem and recording data in CSV format.

IMU Feature (FN0008)

Increasing update rate using IMU sensor fusion for accelerometer and gyroscope data.

IMU Axis Positioning

Illustrates the IMU axis orientation for Super-Beacon and HW v4.9.

Player Feature (FN0009)

Functionality to view distance, flight path, and statistics of tracked objects.

Real-Time Player Feature (FN0010)

Feature for smoother tracking paths by looking backward and forward with selected parameters.

CSV Format

Details the CSV file format for storing measured data, including timestamps and coordinates.

Interfaces

Super-beacon External Interface Pinout Top View

Pinout diagrams for Super-Beacon and Super-Beacon-2 external interfaces.

Beacon HW v4.9 External Interface 4 x4 Pinout Top View

Pinout diagram for the Beacon HW v4.9 external interface.

Modem HW v4.9 External Interface Pinout Top View

Pinout diagram for the Modem HW v4.9 external interface.

Mini-RX Internal Solderable Pinouts (for Experienced Users Only)

Internal pinouts for the Mini-RX beacon, requiring soldering skills for UART data streaming.

Advanced System Settings and Optimization

Radio Profiles Compatibility

Compatibility matrix for different HW versions and radio profiles (38, 100, 400, 500 Kbps).

Wi-Fi Settings for Super-Modem

Steps to configure Wi-Fi settings for coordinate streaming using the Super-Modem.

Static IP

Instructions on enabling and configuring Static IP settings for Wi-Fi connection.

Building Big Maps in Inverse Architecture (IA)

Introduction

Introduction to building big maps in IA, highlighting differences from NIA and the importance of TDMA.

TDMA Sequence:

Explanation of TDMA types and their application in building large IA maps, especially Type 3.

TDMA Type 2 - Full-overlapping Submaps

Guide on using IA with TDMA Type 2 for improved tracking in complex situations.

Increasing Update Rate

Reducing Location Update Latency

How to Place Beacons

Using the Oscilloscope

Proper Ultrasonic Signal Detection

Using hedgehog.log File

System Accuracy Evaluation

Calibration of the Accelerometer

Settings to Obtain Correct North Direction

Communication of Pixhawk with Marvelmind Mobile Beacon

Sending Path to Robot

Proper Ultrasonic Coverage

Sensors Settings: Example for 2 D and Mobile Beacon

Powering Beacons

Power Supply and Leds

Frequently Asked Questions

Checklist Before Starting the System:

Pre-operation checklist covering SW, beacon voltage, antenna placement, and initial configuration.

Troubleshooting Checklist

Contacts

Marvelmind Super-MP-3D Specifications

General IconGeneral
BrandMarvelmind
ModelSuper-MP-3D
CategoryRobotics
LanguageEnglish