Overview
Week 10 at a Glance
MEMS accelerometersMEMS gyroscopesIMU architectureComplementary filterCamera calibrationBlob detection
Why it matters in practice. IMUs are inside every smartphone, drone, and autonomous vehicle. Understanding their noise characteristics and the sensor fusion algorithms that correct them is essential for any engineer working with autonomous or mechatronic systems.
Objectives
What You Will Be Able to Do
Course objectives (CO) define program-level skills. Module objectives (MO) define specific weekly targets that build toward them.
Course Objectives (CO)
CO6: Select appropriate sensors; predict sensor output; identify error sources.
CO5: Compute and interpret frequency-domain analysis of sensor signals.
Module Objectives (MO) — Week 10
Explain MEMS accelerometer and gyroscope operating principles and identify their dominant noise and drift characteristics.
CO6
CO6
Implement a complementary filter that fuses accelerometer and gyroscope data for stable orientation estimation.
CO6
CO6
Describe the camera imaging model (intrinsic parameters, distortion) and the concept of intrinsic calibration.
CO6
CO6
Implement a simple blob detection algorithm to locate a colored object in a camera image frame.
CO6
CO6
Review these objectives before you start each assignment. They map directly to what is assessed on the quiz, homework, and exams.
Suggested Learning Path
How to Work Through This Week
Follow this sequence. Each step prepares you for the next. Do not attempt graded work before completing the instructional material it depends on.
1
Read Alciatore Ch. 14 and provided IMU supplement
The Ch. 14 reading covers MEMS principles. The Canvas-posted IMU supplement covers complementary filter derivation — read both before lecture.
2
Attend Lecture
Lecture 1 covers MEMS IMU architecture and complementary filter theory. Lecture 2 introduces machine vision (camera model, calibration, blob detection). The lab next week applies both.
3
Lab: Complementary Filter on Arduino + MPU-6050
Wire an MPU-6050 IMU to your Arduino over I2C. Implement and tune a complementary filter. Validate the orientation estimate against a known angle reference.
4
Submit Module 4 Homework — due this week
Module 4 Homework covers Weeks 7-10. All problems must be submitted by the end-of-week Canvas deadline.
Instructional Material
Required Readings, Videos, and Resources
Complete all required items before moving to graded activities. The Aligns to column maps each resource to the module objectives it directly supports.
| Resource | What You Will Gain | Aligns to | Est. Time |
|---|---|---|---|
| Read Alciatore Ch. 14 and IMU Sensor Fusion Supplement (Canvas) |
MEMS capacitive sensing, gyroscope Coriolis effect, accelerometer noise floor, gyroscope drift, complementary filter derivation, and time constant selection. | MO1, MO2 | 60 min |
| Lab Lab: MPU-6050 Complementary Filter on Arduino |
I2C interface, register-level IMU configuration, complementary filter implementation, and real-time orientation display. | MO1, MO2 | ~2 hr lab |
| Watch Micro-lecture: Why Gyroscopes Drift |
4-minute animated explanation of gyroscope integration drift and why the complementary filter uses a high-pass for gyro and low-pass for accelerometer. | MO1, MO2 | 4 min |
Graded Learning Activities
Assignments and Due Dates
All graded work is submitted through Canvas. Complete the listed prerequisites before attempting each assignment.
| Assignment | Prerequisites | What Is Assessed | Aligns to | Points |
|---|---|---|---|---|
| Module 4 Homework: Advanced Sensor Systems End of Week 10 |
Complete all Week 7-10 readings and labs before finalizing the sensor fusion and complementary filter problems. | Complete sensor systems coverage: strain, thermocouple, pressure, encoder, and complementary filter design and tuning. | MO1-MO5 | 50 pts |
Academic integrity. Your complementary filter implementation must be your own original Arduino sketch. The filter coefficients you report must be determined from your own hardware tuning session, not copied from an online implementation.