User Manual

Non-Inverse (NIA) Inverse (IA)
Typical usage
‐ 1-4 autonomous robots/drones - supports up to 250 beacons
‐ When mobile beacon shall be installed on a noisy vehicle, but
stationary beacons are in relatively quieter places
‐ Many mobile users (people, robots, VR) - supports up to 250 beacons
‐ When mobile beacons are in quieter places
Not recommended
‐ In applications, where emitting ultrasound of mobile beacon is
undesirable
‐ For drones – because mobile beacon is receiving. The range may be limited to just
2-5m. May be improved with future SW releases
Precision
‐ ±2cm or better with more averaging ‐ Targeted - ±2cm
‐ It will be on par with Non-Inverse Architecture, eventually. Currently, Non-Inverse
SW is more polished, more stable and shows better precision than the Inverse one
Update rate
‐ Depends on the number of mobile beacons (n) as 1/n –TDMA
is used
‐ Slightly depends on the radio protocol
‐ Depends on the sizes of submaps
‐ IMU fusion is HW and SW supported
‐ Does not depend on the number of mobile beacons, because they are receiving
‐ Slightly depends on the radio protocol (the same as NIA)
‐ Depends on the sizes of submaps (the same as NIA)
‐ IMU fusion is HW supported. SW support is coming
Range
‐ Can cover as large territory as you wish using submaps
‐ Up to 30m in real life and up to 50m in lab conditions within a submap, i.e. stationary beacons shall be placed every 30m or closer
Map building
‐ Can build a map automatically, if HW v4.9 beacons are used.
Mini-beacons cannot build the map, because they are TX-only
‐ Manual entry of stationary beacons’ location or distances between them is
required
Architectures comparison
Version 2018_11_19