Improvement of Optical Tracking-Based Orientation Estimation by Fusing Gyroscope Information

Optical tracking systems (OTS) can provide high position accuracy over a large workspace. However, the orientation from OTS is related to distance between markers, which contains errors when small or line-of-sight problems occur. The estimation with gyroscope complementary OTS-based orientation. In this article, an error-state Kalman filter (ESKF) proposed fuse them. Two experiments were performed verify performance: first, unit including markers and was placed statically rotated dynamically in 3-D space. Secondly, two units used estimate relative hand fingers. static dynamic reduced 0.39° ± 0.16° 2.75° 1.56° 0.23° 0.02° 1.50° 0.62°, respectively, 13 mm. second experimental results show that fused method improved performance by smoothing estimate, filling during line of sight period, correcting there identification markers.