Explore the engineering challenges and innovative solutions behind Valve's virtual reality hardware in this 39-minute Hackaday conference talk by Alan Yates. Dive into the conceptual elegance and technical intricacies of the Lighthouse tracking system, from its basic principles to complex sensor fusion techniques. Discover how angle measurements are converted to time, the inner workings of base stations, and the critical resolution requirements. Uncover the "Skinny Triangle" problem and learn about the importance of parts per million precision. Examine rotor jitter, motor control, and the influence of gravity on system design. Investigate sensor sensitivity, electrical gain, and peak sync power needs. Gain insights into failed approaches and ongoing challenges in VR hardware development. Enhance your understanding of cutting-edge VR technology and the iterative engineering process behind groundbreaking innovations.