Reducing lag in virtual displays using multiple model adaptive estimation

A multiple model adaptive predictor is applied to a virtual environment flight simulator to remove the effect of computational and scene-rendering delay time. Angular orientation of the user´s head is predicted for a period of time into the future, so that the scene can be rendered appropriately by the time the user actually looks in that direction. Single nonadaptive predictors cannot adequately cover the dynamic range of head motion. By using three dissimilar models of head motion upon which to base the individual elemental filters within the multiple model adaptive estimator (MMAE) algorithm, an MMAE is designed which outperforms the nonadaptive Kalman predictor proposed by Liang (1991)