In current Virtual Envir optimaj. The aim is ,ic images presented in a theoretical model of s rh roughly ,eans irnagà anilyze the irnportance r plement a aest and op,i.i paraneters allows an opti ters. The sysaein's capab iven the limita¿ions of the I.INTRODUCTION Especially in more *äh"il'flÏ*,=iii:i.'J"î:åïî:îïr.ïï*1î'1".ï such as simurarion and trainins sysrems ir is essendar 'nlnen. Irrearrv, the irnage ¡. o.u,o'ri.r.îröä if.:üi!;iiïrä:Ji,o" " ."i'i;;;.-iiin.nr¡onrr Th9 imaSe presented by the three_clir rear object *our,r.t*g. rÑ,"ïil;#::ì:':ii.i::rîîäiï cha'ge in exactry trre way that the image or a

This paper intents to add to the literature on 3D position and orientation Eacking systems by describing TNO's experience with tlie InterSense ftacking system that uses a combination of inefial and ultra-sound technology. From the results of a performance evaluation study and our practical experience with this system in military applications, the value of the system and its underlying inertial technology based hybrid concept is determined. The performance figures addressed in the study include noise and regisgation error characteristics. Orientation and position tracking performance results are provided for the InterSense system. The figures are compared with the figures for the Polhemus FASTRAK system. The hybrid tracking system concept as introduced by InterSense is of great value to virtual environment applications. The filter algorithms included in the InterSense fiacking system to combine the two different sensor types result in,a system that is both fast and noise free. The system is very well suited for most imrnersive applications. Registraúon error, however, is rather large, causing the system to be inadequate for augmented reality applications in its cunent implementation. TNO feels that the "on."¡ will evolve to an inertial technology based system combined with high accuracy auxiliary trackers that will meet the requirements for augmented reality applications.

While the potential of Virtual Environments (VE's) for traming simulators has been recognized right from the start of the emergence of the technology, to date most VE systems that claim to be training simulators have been developed in an adhoc fashion. Based on requirements of die Royal Netherlands Army and Air Force, we have recentiy developed VE based training simulators following basic systems engineering practice. This paper reports on our approach in general, and specifically focusses on two examples. The first is a distributed VE system for training Forward Air Controllers (FAC's). This system comprises an immersive VE for the FAC trainee, as well as a number of other components, all interconnected in a network m&astructure utilizing the DIS/HLA standard protocols for distributed simulation. The prototype VE FAC simulator is currentiy being used in the training program of the Netherlands Integrated Aù/Ground Operations School. Feedback from the users is being collected as input for a follow-on development activity. A second development is aimed at the evaluation of VE technology for training gunnery procedures with the Stinger man-portable air-defense system. In tiiis project, a system is being developed that enables us to evaluate a niunber of different configurations with respect to both human and systems performance characteristics.

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