Indoor Positioning System

The Indoor Positioning System (IPS) reference design has two cameras (IR and Visible light) in order to find the location of a robot in a room. One camera has a normal lens with an Infrared blocking filter and the other has an infrared sensitive lens with a daylight blocking filter. A unique feature of this design is that it uses wide angle lenses and can detect the IPS Transmitter across an entire room or warehouse. Due to sunlight having light within the IR spectrum range of the transmitter, this device can only be used indoors. 


  • Combined with the IPS TX, this system can be used for night vision
  • SWD Programming port
  • Two types of communication modes: USB or EZ-B camera port
  • Switch for USB or EZ-B mode
  • Replaceable Camera modules
  • Replaceable Wide angle lenses
  • On-board 3.3V, 2.8V and 1.5V voltage regulation
  • 5V tolerant I/O pins
  • RGB status indicator
  • ARC skill available
  • Voltage requirement: 3.2-16VDC (3.3V (EZ-B) or 5V (USB) Typical)
  • Current draw: 200mA
  • Dimensions: 37.7(W) x 51.5(L) x 16(H) (mm)
  • Weight: 11g

  • GitHub Repo

    Click here to view the github repo of hardware and software

    Major Components

  • STM32F407VET6 32-bit Cortex-M4 ARM microcontroller (custom firmware provided)
  • 2 x HDF3M-811 OV2640 2 Megapixel Camera
  • TS3DV20812RHHR 1:2 Multiplexer

  • Manufacturing Notes

  • Supplier: programs custom firmware into the STM32F407VET6 at their facility before sending to manufacturer
  • Supplier: provides pre-built HDF3M-811 OV2640 Cameras with custom ribbon length
  • Supplier: provides HDF3M-811 OV2640 Camera with custom IR filter and Wide angle lens
  • Supplier: provides HDF3M-811 OV2640 Camera with custom Daylight filter and Wide angle lens
  • Manufacturer: Dual side placement and soldering of SMT components
  • Manufacturer: Single Side soldering of THT components

  • This project requires the IPS Transmitter:


    Documentation: Schematic PDF, Datasheet PDF, BOM, Assembly PDFs

    Hardware: Altium PCB design File, Altium SCH Design File, Gerbers

    Firmware: Code, Compiled Binary

    Altium Libraries are also available here


    ARC Skill

    The ARC skill for this reference design is very easy to use. Simply click on the area you'd like the robot to move to and it moves there!