Chapter 2
• drifting of IMUs (i.e. mostly from the 3-axis gyroscope) is compensated by fusing the
inertial data with position measurements calculated from the optical tracking system
A hybrid target is basically an optical target additionally equipped with an IMU, which it-
self is connected to the controller. There the tracking data from both worlds (i.e. hybrid)
is combined, which also leads to the term ’sensor fusion’. By nature the IMU contains an
independent coordinate system which needs to be aligned to the optical tracking system
axes. This additional teaching process is called hand-eye calibration or ’hybrid body cali-
bration’ in DTrack2 .
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