基于图像和惯性的头盔组合跟踪原理

摘要

不同体制的头盔跟踪定位技术单独使用时都存在一定的原理性性能制约,提高跟踪定位技术整体性能的有效途径是采用组合跟踪.目前综合性能较好的是图像式头盔跟踪,图像式跟踪技术精度高,输出数据平稳,稳定性好,但其缺点是头盔活动范围受制于CCD摄像机视场及头盔大角度转动时头盔本身对CCD摄像机视角的遮挡.惯性跟踪不需要任何外来信息也不向外辐射任何信息,可在任何介质和任何环境条件下实现360°全范围头部跟踪,但其定位精度随时间下降.提出的基于图像和惯性的头盔组合跟踪技术充分利用图像跟踪精度高、长期稳定性好及惯性定位跟踪范围广、跟踪系统简单的优点,达到单个跟踪定位体制不具备的综合性能.%There are some of principle constraints to the performance of different system of helmet tracking and positioning technology,the effective way to provide the overall performance of tracking and positioning technology is to combine some of them. Image helmet tracker system has the better comprehensive performance,but its disadvantage is that helmet activities subject to FOV and installation space in aircraft cockpit of the CCD sensor. Inertial tracking does not require any external information and does not radiate any information. It can achieve head tracking's 360 full range in any environment,but its position accuracy decreases with time. The combination of image and inertial helmet tracking technology proposed by this paper make full use of high accuracy,long-term stability in image tracking and wide range of tracking in inertial positioning. The combined tracking system is simple and can achieve the comprehensive performance that a single tracking system does not have.