Control system for a vibrotactile vest and weapon controller of an XR trainer based on an inertial measurement unit

A method for event-driven coordination of two interconnected XR-trainer subsystems – a three-channel vibrotactile vest and a weapon controller with an MPU6050 inertial module – is proposed. The method is formalized by the rule F: (s, q, c) → u, which maps event type, controller orientation vector, and scenario-state context to a control-action vector for the XR scene, weapon controller, and vest; exchange is implemented via JSON/HTTP messages. The vest provides targeted vibrostimulation across body zones, while the controller simulates recoil and smoke and transmits orientation parameters to the virtual environment. For the vest power stage, a computational model of current and energy regimes is developed, relating the number of simultaneously active channels to instantaneous and average current and battery-life estimates; the model's consistency is verified by LTspice circuit simulation. For the MPU6050, a processing algorithm is formed, comprising static bias correction, moving-average smoothing, and complementary filtering with α = 0.98. During preliminary quasi-static verification, the observed absolute pitch and roll deviations ranged from 1 to 2 degrees. Because the source data do not provide the number of measurements, repetitions, or statistical characteristics of the series, this range is not interpreted as a statistically validated accuracy estimate. Dynamic modes, yaw, and end-to-end system integration require separate validation.

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