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Mitchell Weber,Roman Hartl,Michael F. Zäh,Jihyun Lee 한국정밀공학회 2023 International Journal of Precision Engineering and Vol.24 No.9
Virtual reality tracking devices are being investigated for application to motion tracking of robots, human bodies, indoor drones, mobile systems, etc., but most studies so far have been limited to performance analysis of commercialized tracking devices in static conditions. This paper investigated methods for improving the measurement accuracy of dynamic positioning and orientation of the HTC tracker. The signals from the photodiodes in the tracker were extracted and fused together, as well as with external Inertial Measurement Units (IMUs) signals using the Extended Kalman Filter (EKF) and the Unscented Kalman Filter (UKF). Multiple base stations, trackers and IMUs were applied to evaluate the measurement accuracy. Multiple paths were used to test different dynamic operating conditions. The results show that the proposed tracking system can improve accuracy by up to several mm by using the UKF as opposed to the EKF algorithm, increasing the number of base stations, increasing the number of trackers and fusing IMUs.