6/11/23, 6:04 AM
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`Inertial Motion-Tracking Technology for Virtual 3-D | NASA Spinoff
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`Inertial Motion-Tracking
`Technology for Virtual 3-D
`
`Originally published in 2005
`
`Originating Technology/NASA Contribution
`
`I n the 1990s, NASA pioneered virtual reality research. The
`concept was present long before, but, prior to this, the
`technology did not exist to make a viable virtual reality
`system. Scientists had theories and ideas—they knew that
`the concept had potential—but the computers of the 1970s
`and 1980s were not fast enough, sensors were heavy and
`cumbersome, and people had difficulty blending fluidly with
`the machines. Scientists at Ames Research Center built upon
`the research of previous decades and put the necessary
`technology behind them, making the theories of virtual reality
`a reality.
`
`Virtual reality systems depend on complex motiontracking
`sensors to convey information between the user and the
`
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`Inertial Motion-Tracking Technology for Virtual 3-D | NASA Spinoff
`computer to give the user the feeling that he is operating in
`the real world. These motion-tracking sensors measure and
`report an object’s position and orientation as it changes. A
`simple example of motion tracking would be the cursor on a
`computer screen moving in correspondence to the shifting of
`the mouse. Tracking in 3-D, necessary to create virtual reality,
`however, is much more complex. To be successful, the
`perspective of the virtual image seen on the computer must
`be an accurate representation of what is seen in the real
`world. As the user’s head or camera moves, turns, or tilts, the
`computer-generated environment must change accordingly
`with no noticeable lag, jitter, or distortion. Historically, the lack
`of smooth and rapid tracking of the user’s motion has
`thwarted the widespread use of immersive 3-D computer
`graphics.
`
`NASA uses virtual reality technology for a variety of
`purposes, mostly training of astronauts. The actual missions
`are costly and dangerous, so any opportunity the crews have
`to practice their maneuvering in accurate situations before
`the mission is valuable and instructive. For that purpose,
`NASA has funded a great deal of virtual reality research, and
`benefited from the results.
`
`Partnership
`
`Scientists at Ames, led by Elizabeth Wenzel, were looking for
`a better way to track head motion for use with 3-D audio
`systems. Dr. Wenzel’s group was conducting research
`experiments on binaural localization with subjects wearing
`tracked 3-D audio headsets. Traditional headsets were either
`too slow, had high latency, or were too bulky. They were
`looking for a better headset.
`
`A graduate student at the Massachusetts Institute of
`Technology, Eric Foxlin was conducting research in virtual
`reality systems when he came up with the idea to develop a
`miniature tracking device based on the same technology
`found in large, ship-borne navigation tracking devices. The
`Inertial Measurement Unit (IMU) uses large precision
`gyroscopes, accelerometers, and compasses to estimate,
`with great accuracy, the position and orientation of ships and
`aircraft. Foxlin used this concept to build a miniature IMU
`using low power, low cost microelectromechanical systems
`
`(MEMS)
`https://spinoff.nasa.gov/Spinoff2005/ch_10.html
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`Inertial Motion-Tracking Technology for Virtual 3-D | NASA Spinoff
`(MEMS) components with support from an Ames seed grant.
`The first miniature, body wearable, sourceless tracker was
`developed and used as a technology seed to attract venture
`capital and start InterSense, Inc., in 1996.
`
`Bedford, Massachusetts-based InterSense now develops
`precision, miniaturized inertial motion-tracking technology
`extensively deployed in simulation and training, entertainment
`applications, clinical and medical settings, for oil and gas
`discovery, virtual design and testing, and in a variety of
`research applications. A cutting-edge virtual reality company,
`one of its frequent customers is NASA.
`
`InterSense’s IS-900 Virtual Environment Tracking system was
`recently installed at Glenn Research Center for use in a 3-D
`virtual immersive display wall. Combined with 3-D fluid flow
`analysis software, the stereo display wall is used to gain
`better understanding of 3-D flow modeling of jets, turbines,
`and Space Shuttle aerodynamics. Simulated failure analysis
`is also performed, such as what happens when a jet turbine
`blade is impacted by a foreign object.
`
`Product Outcome
`
`InterSense’s unique technology tracks motion with an
`unmatched combination of size, cost, and precision. Its users
`create products and applications that allow anyone—from
`product designers, computer and Internet game developers
`and players, to scientists, teachers and students, assembly
`line workers, and video and film production companies—to
`interact with virtual 3-D images just as they do physical
`objects.
`
`The InterSense products have the added bonus of allowing
`the users unlimited range, negligible jitter, high update rates,
`and low latency. The units have no discernable interference
`or line-of-sight problems and offer superior motion prediction.
`
`InterSense offers standard products which provide
`orientation-tracking and location-tracking systems. Each
`product offering has a unique combination of inertial
`technology which is sensor-fused with complementary
`tracking technologies. The InertiaCube product family
`combines MEMS gyros and accelerometers with
`magnetometers to offer an accurate, sourceless tracking
`
`Th IS 900
`https://spinoff.nasa.gov/Spinoff2005/ch_10.html
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`Inertial Motion-Tracking Technology for Virtual 3-D | NASA Spinoff
`sensor. The IS-900 product family fuses the MEMS inertial
`components with an ultrasonic positioning system to offer an
`accurate tracking solution for wide-area tracking with wireless
`tracking devices. The IS-1200 product family fuses MEMS
`inertial components with passive or active optical position
`references, providing an autonomous tracking solution for
`mobile or moving vehicle applications.
`
`With its extensive product line, InterSense is the leading
`provider of head and helmet tracking systems to major
`government contactors like the Boeing Company, Lockheed
`Martin Corporation, and L3 Communications, Inc.’s Link
`Simulation and Training division (Link).
`
`One of the projects it worked on with Link is the Aviation
`Combined Arms Tactical Trainer (AVCATT) now employed by
`the U.S. Army for training helicopter pilots. It allows multiple
`users, so pilots can practice simulated flights as a fleet, as
`opposed to individually. The AVCATT is the Army’s newest
`aviation training simulator which includes a series of
`networked simulators offering a dynamic, reconfigurable
`system used for collective training and mission rehearsal. The
`AVCATT provides up to five functional cockpits, and even
`allows pilots to choose between different models currently
`employed by both the Army and the National Guard.
`
`Link and InterSense have also teamed together to create the
`F/A-18C Distributed Mission Training System, a project
`similar to the helicopter simulator. This, however, is used to
`model jet aircraft, and, like the AVCATT, it allows pilots to train
`simultaneously in real-time, 3-D missions in simulated
`cockpits.
`
`Another project using InterSense’s NASA-funded technology
`is the Stinger Missile Trainer, a 40-foot dome with projected
`terrain and aircraft images. The dome allows the trainees a
`full 360-degree surround scene and 70-degree vertical field of
`view. The system trains up to three gunners, individually or
`simultaneously, to identify, acquire, and track airborne
`targets, and then launch a Stinger missile. An upgraded
`version of this program was recently developed for domed
`simulators to improve the overall training efficiency and
`realism. As part of the upgrade, InterSense worked with
`several other cutting-edge simulation companies to free the
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`Inertial Motion-Tracking Technology for Virtual 3-D | NASA Spinoff
`trainees from tethers and cables that were connected to
`training weapons.
`
`Another InterSense partner, Fakespace Systems, Inc., of
`Marshalltown, Iowa, constructed a reconfigurable
`visualization system as part of an immersive environment
`simulator used to study how soldiers use equipment in
`combat zones at the Army Research Laboratory (ARL). The
`RAVE II visualization system consists of three detachable,
`large-scale stereoscopic display units that ARL uses to
`project realistic imagery of simulated hostile environments.
`The immersive environment simulator integrates the RAVE II
`with InterSense’s motion-tracking device and an omni-
`directional display system consisting of three self-contained,
`rear-projected modules that can be arranged to form a flat
`wall display or an immersive theater environment. The
`immersive environment simulator also integrates motion-
`tracking with an omni-directional treadmill allowing soldiers to
`run and move in any direction within the virtual hostile terrain
`in order to simulate live combat conditions.
`
`It is not just the military that is benefiting from InterSense’s
`work. The company worked to integrate its inertial head
`tracker into the Microsoft games, Flight Simulator 2002 and
`Flight Simulator 2004: A Century of Flight. Touted by
`Microsoft as “the world’s most popular game,” Flight
`Simulator sold over 21 million copies. In the game’s “Virtual
`Cockpit” mode, the user becomes fully immersed in the
`cockpit and views the world as a real pilot does with a full
`360-degree view. Along with the consumer market, numerous
`military departments and pilot training schools utilize this
`program as a cost- efficient training simulator for beginning
`pilots.
`
`InterSense’s inertial motion-tracking technology can also be
`found in hospitals, where it is used to supplement ultrasound
`imagery; in oil fields, where it helps workers locate new
`locations for wells; at General Motors vehicle design facilities;
`television and film studios; and in university research. Its
`motion-sensing work, funded by NASA, can be found virtually
`everywhere.
`
`RAVE II™ is a trademark of Fakespace Systems, Inc.
`
`Mi
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`Inertial Motion-Tracking Technology for Virtual 3-D | NASA Spinoff
`Microsoft® is a registered trademark of the Microsoft
`Corporation.
`
`Flight Simulator 2004: A Century of Flight® is a registered
`trademark of Microsoft Corporation.
`
`NASA uses virtual reality technology for a variety of purposes,
`mostly training of astronauts and has funded a great deal of
`virtual reality research.. A graduate student at the
`Massachusetts Institute of Technology, Eric Foxlin, was
`conducting research in virtual reality systems when he came
`up with the idea to develop a miniature tracking device based
`on the same technology found in large, ship-borne navigation
`tracking devices. Foxlin used this concept to build a miniature
`device using low power, low cost components with support
`from an Ames grant. The first miniature, body wearable,
`sourceless tracker was developed and used as a technology
`seed to attract venture capital and start InterSense, Inc.
`InterSense now develops precision, miniaturized inertial
`motion tracking technology extensively deployed in simulation
`and training, entertainment applications, clinical and medical
`settings, for oil and gas discovery, virtual design and testing,
`and in a variety of research applications.
`
`Virtual reality systems depend on motion-tracking sensors to relay
`information between the user and the computer. Pictured here is the
`InterSense IS-900 MiniTrax 6-DOF Hand Tracker for immersive
`environment interaction.
`
`https://spinoff.nasa.gov/Spinoff2005/ch_10.html
`
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`Inertial Motion-Tracking Technology for Virtual 3-D | NASA Spinoff
`
`InterSense’s immersive headsets, like this NVIS Head Mounted
`Display, bring 3-D to life when integrated with IS-900 MiniTrax 6-DOF
`Inertial-Acoustic Tracking Technology.
`
`Virtual Design Review in University of Central London’s Immersive
`Display Room, using the InterSense IS-900 Wand and Head Trackers.
`
`https://spinoff.nasa.gov/Spinoff2005/ch_10.html
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`Inertial Motion-Tracking Technology for Virtual 3-D | NASA Spinoff
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`The immersive virtual reality systems that InterSense works on can be
`found virtually everywhere.
`
`Virtual Design Review of Automotive Interior in Peugeot’s Immersive
`Display Room, where designers use the InterSense IS-900 Wand and
`Head Trackers.
`
`Related Stories
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`Space-Saving Exploration
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`https://spinoff.nasa.gov/Spinoff2005/ch_10.html
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`Inertial Motion-Tracking Technology for Virtual 3-D | NASA Spinoff
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