Inertial head-tracker sensor fusion by a complementary separate-bias Kalman filter

@article{Foxlin1996InertialHS,
  title={Inertial head-tracker sensor fusion by a complementary separate-bias Kalman filter},
  author={Eric Foxlin},
  journal={Proceedings of the IEEE 1996 Virtual Reality Annual International Symposium},
  year={1996},
  pages={185-194}
}
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… CONTINUE READING

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