Full-body inverse kinematic (FBIK) module for use in firearm simulation training

1. A Full-Body Inverse Kinematic (FBIK) module integrated into a wearable sensor worn by a user for use in a motion tracking system for tracking extremities of the user in a virtual reality (VR) environment, the FBIK module comprising:

an enclosure containing:

a power source;

a plurality of active tags,

wherein each tag of the plurality of active tags comprises a light for use by the motion tracking system to track the user of the FBIK module, and

wherein the light radiates at a frequency not visible by a human eye that is visible to at least one camera of the motion tracking system; and

a controller that flashes the light in distinct patterns identifiable by the motion tracking system for use by the motion tracking system to:

triangulate a position of each tag of the plurality of active tags in six degrees of freedom; and

determine a location of each tag of the plurality of active tags and a relative orientation of each tag of the plurality of active tags within a three-dimensional space of the VR environment based on the triangulation, wherein such determination identifies the user of the FBIK module, and

wherein the location and the relative orientation of each tag of the plurality of active tags is used by a scenario management system with T-pose calibration information to render an avatar of the user to display to other users in the VR environment.

2. The FBIK module of claim 1 , wherein the enclosure is configured to be coupled to a wearable adjustable strap fitted to the user.

3. The FBIK module of claim 2 , wherein the wearable adjustable strap includes a pocket configured to receive the FBIK module.

4. The FBIK module of claim 3 , wherein the enclosure is a rigid puck that protects its contents and is configured to be removably inserted into the pocket.

5. The FBIK module of claim 3 ,

wherein the pocket contains a base plate, and

wherein the base plate and the puck are configured with a locking mechanism that secures the puck to the base plate in the pocket.

6. The FBIK module of claim 1 , wherein:

the FBIK module is one of a plurality of substantially similar FBIK modules worn on the extremities of a user, and

the motion tracking system triangulates the positions of all of the plurality of active tags of the FBIK modules worn by the user and determines from the tags' positions at least one of a movement, an orientation, and a posture of the user.

7. The FBIK module of claim 1 , wherein the power source is a battery.

8. The FBIK module of claim 7 , further comprising a charging port, wherein the battery is coupled to a charging source via the charging port.

9. The FBIK module of claim 7 , further comprising a battery port, wherein the battery is external to the enclosure and is coupled to the enclosure via the battery port.

10. The FBIK module of claim 1 , further comprising an inertial measurement unit (IMU) that compensates for loss of visibility of the plurality of active tags when they are occluded by an object between the FBIK module and the at least one camera of the motion tracking system.

11. The FBIK module of claim 10 , wherein the IMU uses information obtained from at least one of an accelerometer, a gyroscope, and a magnetometer, included in the FBIK module, to determine extremity information including at least one of a force, a linear motion, an angular motion, a momentum, an acceleration, and an orientation, of a user's extremity of the extremities on which the FBIK module is worn.

12. The FBIK module of claim 11 further comprising a transmitter to wirelessly transmit at least a portion of extremity information to the motion tracking system for keeping track of the plurality of active tags when they are occluded from a system camera by an object in the VR environment.

13. The FBIK module of claim 1 , wherein the motion tracking system combines information obtained from the FBIK module with information obtained from at least one of a backpack tracker and a head mounted display tracker to more accurately track the user.