Tracking system with five degrees of freedom using a 2D-array of Hall sensors and a permanent magnet

Based on a 2D-array of 16 cylindrical Hall sensors and a permanent magnet, a tracking system with five degrees of freedom is analysed in this paper. The system accuracy is studied, including offset drifts, sensitivity mismatches and the number of sensors. A detection distance as large as 14 cm (during 1 h without calibration) is achieved using a magnet of 0.2 cm(3). The position and orientation of the marker is displayed in real time with a sampling frequency up to 50 Hz. The sensing system is small enough to be hand-held and can be used in a normal environment. (C) 2001 Elsevier Science B.V. All rights reserved.