User Manual

Stationary beacons:
– Mounted on walls or ceilings
– In inverse system beacons belonging to the
same submap should have different ultrasound
frequencies (19 & 25kHz or 25 & 31 kHz, for
example)
– Communicate with router wirelessly in ISM
band
Distance between
beacons-neighbors is
up to 30 meters.
Router/modem:
– Central controller of the system
– Communicates via USB/virtual UART with Dashboard or robot
– Get location data from Mobile DSP beacons
– Supports up to 250 beacons
Mobile DSP beacon(s):
– Installed on robot (human) and interacts with it
via virtual UART over USB
– Contains 3D IMU (accelerometer+gyroscope)
– Beacon’s update rate doesn’t directly depend on
the number of mobile beacons unlike in Non-
Inverse Architecture
– Calculates its location by itself – not by modem
– Recommended distance from mobile beacon to
stationary ones up to 30m
Beacon N
(19, 25, 31,
37, 45, 56
KHz)
Indoor Navigation System
consists of:
– 2 or more stationary beacons
– 1 or more DSP beacons
– 1 central router
Beacon 1 (19KHz)
Beacon 3
(31KHz)
Beacon 2
(25KHz)
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
– In Inverse Architecture every submap must have
beacons with non-repeating ultrasound frequency
– Available frequencies: 19, 25, 31, 37, 45, 56 KHz
Key requirement for the system to work:
unobstructed line of hearing/sight by a mobile
beacon to 2 or more stationary beacons
simultaneously (like in GPS)
Inverse Architecture (IA)