A Micro Inertial Tracker Design In Augmented Reality Applications

Augmented Reality is developed on the foundation of Virtual Reality, and it is different from the virtual reality in complete immersion, Augmented Reality is committed to add the virtual information to the real scene around the user which is generated by the computer, try to allow the users immerse themselves in virtual and real scene. Tracking technology is one of the key technologies in Augmented Reality; the augmented reality system requires the tracking device detection of the user's location of the environment and line of sight in real time.This thesis analysis and study a variety of tracking technologies which included the acoustic tracking, ultrasonic tracking, optical tracking, magnetic tracking and inertial tracking, against the visual tracking technology in current, we design a type of inertial tracking device, which include two type of sensors, accelerometer and gyroscope. They can measure the six degrees of freedom in the space. The inertial tracker we designed towards the direction of high integration and small size.Gyroscopes and Accelerometers are the main sensors in the strap-down navigation system, the whole accuracy and performance of the system depends on the sensor's performance. In order to assure the measurement performance, the system must to compensate the gyroscope's drift error in periods, all because of the gyroscope has the bias and drift. For the multi-sensors data fusion we use the Kalman Filter, the spiritual of the algorithm is to use the tilt which computed by the accelerometer compensate the angle which generated by the gyroscope, after that the attitude will be obtained. In this article we use MATLAB tools for the work of simulation, and rendering gesture curve.At the end of this thesis, we applied the inertial tracker to augmented reality and virtual reality, use of the inertial devices to control the virtual object's movement. Through analysis the experiment results, the inertial devices has certain feasibility in the practical application, but its performance needs further improvement, for meet the standards of commercial products, there are much work to do both in hardware and software.