Abstract. Tracking system is essential for Image Guided Surgery(IGS). The Optical Tracking Sensor(OTS) has been widely used as tracking system for IGS due to its high accuracy and easy usage. However, OTS has a limit that tracking fails when occlusion of marker occurs. In this paper, sensor fusion with OTS and Inertial Measurement Unit(IMU) is proposed to solve this problem. The proposed algorithm improves the accuracy of tracking system by eliminating scattering error of the sensor and supplements the disadvantages of OTS and IMU through sensor fusion based on Kalman filter. Also, coordinate axis calibration method that improves the accuracy is introduced. The performed experiment verifies the effectualness of the proposed algorithm.

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This paper proposes an implementable sun tracking algorithm for portable systems powered by alternative energy sources. The proposed system uses a 2-axis tilt sensor and a 3-axis magnetic sensor to measure the orientation and posture of the system, according to a horizon coordinates system, and compensate for tilt effects. Then, through an astronomical calculation, using the present time and position information obtained from GPS sensors, the azimuth and altitude of the sun in that location is calculated and converted to portable sun tracking system coordinates and used to control the A-and C-axes of the system.

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