Marvelmind Super-MP-3D

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138

7.9.2.2. IMU

Calibration settings of embedded IMU: X shift

Calibration settings of embedded IMU: Y shift

Calibration settings of embedded IMU: Z shift

Calibration settings of embedded IMU: X scale

Calibration settings of embedded IMU: Y scale

Calibration settings of embedded IMU: Z scale

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Table of Contents2
Executive Summary13
Key Capabilities14
Legend15
Basics of the System16
What's in the Box16
Starter Set Super-MP-3D16
Starter Set IA-04-2D-Badge16
Indoor Navigation System Architectures17
Architectures' Elements19
Indoor "GPS" System Close-Up and Internal View20
System Elements23
Control System (Dashboard)23
Stationary Beacon24
Mobile Beacon A.k.a. "Hedgehog25
Modem26
Different Types of Modems27
Super-Modem27
Modem HW V5.129
Modem HW V4.930
Different Types of Beacons31
Super-Beacon32
Beacon Mini-RX40
Beacon Mini-TX47
Beacon Industrial-TX-Metal48
Beacon Industrial-RX50
Industrial Super-Beacon Metal-25Khz53
Beacon HW V4.955
Software Pack56
Download and Open57
Dashboard Folder58
Software IA Folder59
Types of Industrial-Super-Beacons61
Software NIA Folder62
Super-Modem Folder64
SW Settings Descriptions65
Super-Modem's SW Update and Configuration Description65
Super-Modem's SW Update65
How to Update Super-Modem (for SW Version from V7.000)66
How to Update Super-Modem's SW (for SW Version Older than V7.000)68
Super-Modem's Configuration69
SW Update (Usb/Radio/Dfu)71
SW Update Via USB71
SW Update Via Radio73
SW Update Via DFU Programming74
Setting up the System79
Introduction79
DIP Switch Positions80
DIP Switch Position for off Beacon80
DIP Switch Position for Work and HEX Programming80
DIP Switch Position for DFU Programming80
Starter Set Super-MP-3D (NIA and IA)81
Starter Set HW V4.992
Starter Set NIA-Smalldrone100
Starter Set Industrial-NIA-01109
Dashboard Menu and Parameters119
Dashboard General View119
Diagnostics Messages Window120
Table of Distances123
Devices List125
Visualization Settings126
Map Settings127
Modem/Beacon's Quick Control Panel128
Celling and Mirroring Buttons on the Dashboard129
Detailed Settings130
Modem Settings130
Beacon's Settings136
Radio Frequency Band and Carrier Frequency148
Different Hedgehog Colors in the Dashboard149
Different Beacons' Colors in the Dashboard150
The Map151
Introduction151
Map Layers152
The Submap153
Submaps' Service Zones154
Handover Zones155
Beacons' Ultrasonic Frequencies158
Features159
Licenses159
How to Activate Licenses159
License MMSW0005 Designation in Dashboard161
Islands Feature162
Dashboard Monitoring Mode166
Microphone Settings167
Specific Marvelmind Devices167
Separate Omni-Microphone168
Restart if Modem Is Disconnected170
Geofencing Zones171
Geofencing Alarm (MMSW0006 License)174
PPS (Pulse Per Second) Signal177
Floors Feature (FN0011)178
The General View178
Floor Settings179
Map Layers181
Loading the Floorplan (Substrate)182
All Hedgehogs Update Every Cycle184
Filters186
Spot Filtering (for IA Only)186
Window of Averaging (NIA Only)187
Submap Settings188
Axis Rotation Feature (FN0002)189
Vertical Submaps Feature (FN0003)191
How to Build Vertical Submap for Stable Z192
Submaps Feature (FN0004)194
Starting Submaps195
How to Create a Service Zone199
Handover Zones Setting201
Paired Beacons (FN0005)202
Paired Microphones204
Map Settings205
Background Color206
Hedge Color Change (FN0006)208
Payload Streaming (FN0007)210
IMU Feature (FN0008)211
Setup IMU Feature211
Using Data in the Python Library Example213
IMU Axis Positioning214
Player Feature (FN0009)216
Real-Time Player Feature (FN0010)218
CSV Format220
Interfaces221
Super-Beacon External Interface Pinout Top View222
4X4 Pinout for Super-Beacon222
Beacon HW V4.9 External Interface 4X4 Pinout Top View223
Modem HW V4.9 External Interface Pinout Top View224
Mini-RX Internal Solderable Pinouts (for Experienced Users Only)225
Advanced System Settings and Optimization226
Radio Profiles Compatibility227
Examples of Different Configurations228
Wi-Fi Settings for Super-Modem229
Wi-Fi Settings Menu in Dashboard229
Static IP231
Building Big Maps in Inverse Architecture (IA)233
Introduction233
TDMA Sequence234
TDMA Type 2 - Full-Overlapping Submaps236
Increasing Update Rate239
Reducing Location Update Latency240
How to Place Beacons242
Using the Oscilloscope243
Proper Ultrasonic Signal Detection244
Using Hedgehog.log File245
System Accuracy Evaluation246
Calibration of the Accelerometer247
Settings to Obtain Correct North Direction249
Communication of Pixhawk with Marvelmind Mobile Beacon250
Sending Path to Robot251
Proper Ultrasonic Coverage254
Sensors Settings: Example for 2D and Mobile Beacon256
Powering Beacons257
Power Supply and Leds258
Frequently Asked Questions259
Troubleshooting Checklist261
Checklist before Starting the System262
Contacts263

Marvelmind Super-MP-3D - Page 138

Table of Contents