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Inertial Head-Tracker Sensor Fusion by a Complimentary Separate-Bias Kalman Filter

Published: 30 March 1996 Publication History

Abstract

Current virtual environment and teleoperator applications are hampered by the need for an accurate, quick-responding head-tracking system with a large working volume. Gyroscopic orientation sensors can overcome problems with jitter, latency, interference, line-of-sight obscurations, and limited range, but suffer from slow drift. Gravimetric inclinometers can detect attitude without drifting, but are slow and sensitive to transverse accelerations. This paper describes the design of a Kalman filter to integrate the data from these two types of sensors in order to achieve the excellent dynamic response of an inertial system without drift, and without the acceleration sensitivity of inclinometers.

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cover image Guide Proceedings
VRAIS '96: Proceedings of the 1996 Virtual Reality Annual International Symposium (VRAIS 96)
March 1996
ISBN:0818672951

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IEEE Computer Society

United States

Publication History

Published: 30 March 1996

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  • (2018)Closing the Gaps in Inertial Motion TrackingProceedings of the 24th Annual International Conference on Mobile Computing and Networking10.1145/3241539.3241582(429-444)Online publication date: 15-Oct-2018
  • (2015)Real-Time human motion capture driven by a wireless sensor networkInternational Journal of Computer Games Technology10.1155/2015/6958742015(4-4)Online publication date: 1-Jan-2015
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