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An indoor tracking system based on primary and assistant infrared markers is presented in this paper. The system can track the user's head in a large area with high stability and accuracy. And the price of the system is very low. The novel assistant infrared markers with particular spatial characteristic and the primary infrared markers with particular spatio-temporal characteristic are proposed, which can avoid the synchronization between infrared markers and user system. Various numbers of users can be supported by the proposed system and experimental result shows the effectiveness and robustness of the system.