Design and experiments of a 6-dimensional spatial tracker for cheap hand motion measurements

This paper describes a design experience of a low-cost 6 DOF spatial tracker system where relative low accuracy and relatively long ranges, wireless communication will be achieved by means of low cost accelerometers and gyros with contemporary microprocessor. However, there are two key problems; one is the bias drift problem and the other is the single and double integration of acceleration signal suffers not only from noise but also from nonlinear effects caused by gravity. Several algorithms are proposed to cope with such problems, and verified by some successful experimental results.