Indoor/Outdoor “GPS”For autonomous vehicles, robots, forklifts, copters, VR and humans

(with ±2cm precision)

Problem to solve

Problem• GPS does not work indoor:

1. no direct view to satellites2. location precision is measured in meters rather than in centimeters

(required indoor)

• Other indoor navigation systems - UWB, Bluetooth beacons,odometry, magnitometers, WiFi RSSI, laser triangulation, optical, etc. - have their own serious limitations – usually, either precision, or price, or size

• Without precise and timely knowledge of location, autonomous navigation is impossible

Solution

• Off-the-shelf indoor/outdoor navigation system 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) is calculated based on the propagation delay of ultrasonic signal to a set of stationary ultrasonic beacons using trilateration

Stationary beacons:– Mounted on walls or ceilings– Measure distance to other beacons

using ultrasonic pulses (time-of-flight)– Communicate with router wirelessly

in ISM band

Distance between beacons-neighbors is up to 50 meters.

Router/modem:– Central controller of the system– Calculates position of mobile beacon up to 45 Hz– Communicates via USB/virtual UART with

Dashboard or robot

Mobile beacon:– Installed on robot and interacts with it

via UART or SPI or I2C or USB– Receives location update from router

up to 45 times per second– May contain IMU (accelerometer +

gyroscope + compass module)

Beacon N

Indoor “GPS” (±2cm) – architecture

Indoor Navigation System consists of: – 2 or more stationary beacons– 1 or more mobile beacons – 1 central router

Beacon 1

Beacon 3

Bea

con

2

Submaps:– Advanced feature that allows building

independent maps/clusters of beacons in separate rooms and thus covering large buildings (with area of thousands of m2) similar to cellular network coverage

Key requirement for the system to work well: unobstructed sight by a mobile beacon of 2 or more stationary beacons simultaneously (like in GPS)

Indoor “GPS” (±2cm)

• Starter Set configuration: • 1 mobile beacon – USD 69

• 4 stationary beacons – 4 x USD 69

• 1 router – USD 69

• All required SW included

Covers up to 1000m²

Further extension by adding more stationary beacons

Ready to use 3D (x, y, z) system for USD 399

Designed for:- Overall evaluation of Indoor “GPS”- Indoor use (robots, AGVs, forklifts)

Indoor/Outdoor “GPS” IP67 (±2cm)

• Starter Set configuration: • 1 TX beacon IP67 – USD 149 (+power supply options)

• 1 dual-head RX beacon IP67 base – USD 149

• 2 RX heads – 2 x USD 19

• 1 router (non-IP67) – USD 69

• All required SW included

Covers up to 1000m²

Further extension by adding more stationary beacons

Ready to use 2D (x, y) system for USD 399

Designed for:- Outdoor use (robots, AGVs,

forklifts)

Other network elements

TX beacon IP67 base- Can be single- or dual- multi-head- Requires external +12V supply (converter, for example, ~110/220V to 12V, or battery)- Starting from USD 129 (USD 149 for base+IMU)

Other network elements

TX head IP67- Can have different frequencies (25kHz, 31kHz, 40kHz, other variants)- Can be installed on the TX beacon IP67 base or separately- Can have cable of 0.1-10m- Starting from USD 19 (31kHz or 40kHz variant)

TX beacon IP67 base with 31kHz variant installed on top

Powerful 25kHz TX head IP67 Powerful 25kHz TX head IP67

Selected customersCustomers in 40+ countries

Use cases: mobile assets tracking

Use case:- Tracking forklifts, trolleys, buggies and other mobile assets in warehouses

and passenger and cargo areas

Problems solved:- Speeding- Accidents- Broken equipment and goods- Lost or underutilized mobile assets

Benefits:- Precise knowledge of who is doing what and where => productivity increase- Real-time data about speed, acceleration, position of the cars =>

productivity increase- Preventing accidents and decreasing insurance cost and other avoidable

costs

Tracing workers’ location underground,

in metro, on construction sites or

railways stations or under bridges

Helmet with installed

mobile beacon

Applications:• Underground / mining / metro• Construction sites• Large manufacturing factories• Dangerous manufacturing• Oil refineries and gas companies

- Increasing productivity- Improving safety

Use cases: safety & productivity

Use cases: staff tracking

Use case:- Staff, personnel and visitors tracking

Problems solved:- Real-time knowledge of who is doing what and where- Assistances cannot be found, when they are needed => lost sales

Benefits:- Improved customer satisfaction- Increased human capital utilization- Increased sales

Other use cases

Advertising robots with

high-tech charm - shows,

shopping malls,

conferences, museums

Virtual reality for training

and gaming

Automatic delivery

inside large buildings

Autonomous drones

indoor for inventory management

Competition

LIDARInertialOptical flowStructured lightLaser triangulationOdometryGPSMagnetic field

Precision: 2cm vs. 10-30cm – we are 10 times more precisePrice: 2..50x – we are 10 times less expensive

Compete Complement/compete Non compete

10-30 cm 2-5 meters

UWB

Summary

Unique: ±2cm

Customers in 40+ countries

Competitive price Diverse teamMarket needs: robots,

AGV, copters, VR

Thank you!

https://marvelmind.com/#watch_demo – selected video demos

https://marvelmind.com/#customers – selected customers

Email: info@marvelmind.com