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针对复杂座舱环境设计了一个由inside-out(IO)光学跟踪器和outside-in(OI)光学跟踪器组成的新型座舱头部跟踪器.提出一种新颖的混合跟踪算法,利用扩展卡尔曼滤波器和融合滤波器融合座舱跟踪器中IO跟踪器和OI跟踪器的姿态信息,建立了实验装置验证提出的姿态融合算法.初步实验结果显示,与单一IO或OI跟踪器相比,该混合跟踪算法能够使座舱头部跟踪器获得更精确、更稳定、更鲁棒的位置方向信息.验证了所设计的座舱头部姿态跟踪器的结构合理性和所提出的混合跟踪算法的有效性.
A new cockpit head tracker consisting of an inside-out (IO) optical tracker and an outside-in (OI) optical tracker is designed for the complex cockpit environment.This paper presents a novel hybrid tracking algorithm using extended Kalman filter The fusion algorithm based on the pose information of the IO tracker and the OI tracker in the cockpit tracker was constructed based on the fused filter and fusion filter.The experimental results show that the proposed hybrid attitude tracking algorithm is better than the single IO or OI tracker The algorithm can obtain more accurate, stable and more robust position and orientation information of the cockpit head tracker, and verify the structural rationality of the cockpit head pose tracker and the effectiveness of the proposed hybrid tracking algorithm.