As the markets for unmanned aerial vehicles (UAVs) and mixed reality (MR) headsets continue to grow, recent research has increasingly explored their integration, which enables more intuitive, immersive, and situationally aware control systems. We present IGUANA, an MR-based immersive guidance, navigation, and control system for consumer UAVs. IGUANA introduces three key elements beyond conventional control interfaces: (1) a 3D terrain map interface with draggable waypoint markers and live camera preview for high-level control, (2) a novel spatial control metaphor that uses a virtual ball as a physical analogy for low-level control, and (3) a spatial overlay that helps track the UAV when it is not visible with the naked eye or visual line of sight is interrupted. We conducted a user study to evaluate our design, both quantitatively and qualitatively, and found that (1) the 3D map interface is intuitive and easy to use, relieving users from manual control and suggesting improved accuracy and consistency with lower perceived workload relative to conventional dual-stick controller, (2) the virtual ball interface is intuitive but limited by the lack of physical feedback, and (3) the spatial overlay is very useful in enhancing the users' situational awareness.

翻译：随着无人机和混合现实头戴设备市场的持续增长，近期研究日益关注二者的融合，这为实现更直观、沉浸且具备态势感知能力的控制系统提供了可能。本文提出IGUANA，一种基于混合现实的、面向消费级无人机的沉浸式引导、导航与控制系统。IGUANA在传统控制界面基础上引入了三个关键要素：(1) 用于高层级控制的、带有可拖拽航点标记与实时摄像头预览的三维地形图界面；(2) 一种新颖的空间控制隐喻，使用虚拟球体作为物理类比以实现低层级控制；(3) 一种空间叠加显示层，用于在无人机肉眼不可见或视觉视线中断时协助跟踪无人机。我们开展了一项用户研究以定量和定性评估我们的设计，结果发现：(1) 三维地图界面直观易用，使用户免于手动操控，且相较于传统双摇杆控制器，其显示出更高的精确性与一致性，同时用户感知的工作负荷更低；(2) 虚拟球界面直观，但受限于缺乏物理反馈；(3) 空间叠加显示层在增强用户态势感知方面非常有效。