Manual

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3. System elements
3.1 Stationary beacon
- Usually, mounted on the walls or ceilings above the robot
with ultrasonic sensors facing down—to provide the most
robust unobstructed ultrasonic signal coverage to the robot.
However, for automatic landing and indoor navigation of
copters, for example, it is recommended to install mobile
beacon horizontally on the belly of the copter so that the
beacon would be looking downwards
- The position and orientation of the beacons should be
chosen in a way that provides maximum ultrasonic signal
coverage. System efficacy strongly depends on the quality
of ultrasonic signal received by stationary beacons
- Stationary beacons emit and receive ultrasound during the map configuration period. Once
the map is formed and frozen, they only work as the receivers
- Stationary beacons have no exterior differences with regard to mobile beacons
- Inertial measurement unit (IMU) is not installed on the stationary beacons
- The mobile and stationary beacons can be easily interchanged during configuration in the
Dashboard
- There are 433MHz and 868/915MHz versions available. A proprietary radio protocol is used
for communication and synchronization. Other ISM bands are available upon request as
well
- Stationary beacon can be equipped with full-size 165mm antenna (for 433 MHz), which
provides more robust radio connection between modem and beacons (for HW v4.9)
Fig.1: Super-beacon as an example