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Miniature 6-DOF Inertial System for Tracking HMDs

Authors: Eric Foxlin, Michael Harrington, and Yury Altshuler,  InterSense Incorporated
Presented: Aerosense 98, Orlando, FL, April 13 – 14, 1998

Abstract

Current HMD applications are hampered by the limitations of head-tracking technologies now in use. Commercially available magnetic, optical, acoustic, and mechanical head-trackers suffer from various problems such as vulnerability to interference, line-of-sight restrictions, jitter, latency, small range, and high cost. This paper presents inertial-sensor-based hybrid tracking technology that was developed to combat all these problems. Two commercially available products, the IS-300 and the IS-600, are described, both based on the same miniature triaxial inertial sensor device. The IS-300 is a sourceless 3-DOF orientation tracker, using gravimetric tilt-sensing to prevent any gyroscopic drift in pitch and roll, and optional geo-magnetic compassing to prevent any gyroscopic drift in yaw. The IS-600 is a hybrid acousto-inertial 6-DOF position and orientation tracking system. It tracks changes in orientation and position by integrating the outputs of its gyros and accelerometers, and corrects drift using a room-referenced ultrasonic time-of-flight range measuring system. This paper overviews the theory ofoperation of both systems, and reports bench-testing results designed to evaluate the resolution, accuracy, and latency of each system.

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