Hybrid position-posture tracking method based on inertia and optical tracking systems

Abstract

The invention discloses a hybrid position-posture tracking method based on inertia and optical tracking systems. Through the combined application of an inertia tracking system and an optical tracking system, the purpose of tracking the accurate position and posture of a target when a landmark is partially occluded can be achieved; the data of an inertial sensor is corrected by using optical tracking results, so that biased errors are eliminated, and the precision of an inertial tracking module in the process of posture estimation is improved; and when a kalman filter and the inertial tracking system are utilized for carrying out posture tracking, by establishing an acceleration error model and introducing a suddenly-changed-speed measurement noise covariance into a measurement noise covariance matrix, when the system has a linear motion, in a measurement updating equation of a state equation, the confidence level of a measured value is reduced, so that an estimated value in a state vector has a large confidence level, thereby reducing the influence of an accelerometer measured value on the state vector caused by the influence of a suddenly-changed linear acceleration.

Description

technical field [0001] The invention relates to the field of intelligent sensing and human-computer interaction, in particular to a hybrid pose tracking method based on inertial and optical tracking systems. Background technique [0002] Since the inertial tracking system calculates the attitude angle of the target based on the angular velocity of the gyroscope, the acceleration of the accelerometer, and the magnetic intensity of the magnetic sensor, it has the advantages of high refresh frequency and low measurement delay, and does not depend on external marker points during tracking. The fusion of optical and inertial tracking systems can obtain better real-time and higher-precision tracking results, and can continue to track position and attitude in a short time when occlusion problems occur. [0003] Researchers at home and abroad have conducted extensive research on inertial-optical hybrid tracking methods. Young et al. proposed a hybrid tracking system in 2006, which ...

AI Technical Summary

Problems solved by technology

The above methods effectively improve the refresh rate of the tracking system by fusing the inertial and optical tracking methods and realize the short-term continuous tracking when occlusion occurs, but the drift error accumulated over time will occur when tracking the target position and itself will generate Bias error, linear acceleration error, etc., the above method cannot achieve accurate tracking under long-term occlusion

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