ruc

We propose an innovative HAPT(head position and attitude tracking) technique for VR, AR and MR. Our technique is called Multiple-emitter, Multiple-receiver and Multiple-IMU(MMM) HAPT, which can be widely used by vast kinds of mobile phones, in large scale area. The hardware  includes multiple ultrasonic emitters installed on the ceiling and multiple ultrasonic receivers mounted at the virtual helmet and two inertial measurement units. The principle technology is to update HAPT by fusion of multiple IMUs while the accumulated errors are corrected by the array of Ultrasound TOAs (Time of Arrival). The error of head’s position is less than 5 cm. And the delay time is less than 20ms.It can support applicable area as large as 1000 m^2 by deploying about 20 ultrasonic emitters.

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