Manual

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11.3. Building big maps in Inverse Architecture (IA)
This chapter is applicable only for Inverse Architecture
11.3.1. Introduction
In this chapter we described building big maps in IA. It has differences from classic NIA
map building because we have more than 1 ultrasonic frequency, and we need to make
sure that they do not interfere with each other. Please, read carefully.
A map is a system unit that includes submaps, stationary beacons and service zones
within which positioning of mobile beacons is ensured by ultrasonic signals from the
stationary beacons of this submap.
The main parameters of a submap are its size, frequencies and TDMA position of
stationary beacons, by which mobile beacons can not only be positioned, but also
determine in which submap the mobile beacon is located.
Check before start:
8 basic steps from unpacking to autonomous drive/flight
Step-by-step guide on how to build complex maps
Detailed explanation of complex map building:
Building submaps: Part 1
Building submaps: Part 2
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10
11
12
Service zone Submap1
Service zone Submap0
Mobile beacon
Stationary beacon
Submap1 tab
Submap0 (beacon 10 + 11)
Submap1 (beacon 11 + 12)
Handover zone (marked blue)
Submap0 tab
Map