2025Year

First Semester

Motion measurement and Sensing Engineering

Lecture

Motion measurement and Sensing Engineering

Z0400013 Motion measurement and Sensing Engineering

SAITO Ayuko

2.0Credits

Wed.4Period

Hachioji Remote

A) A high degree of specialized expertise　100%
B) The skills to use science and technology　0%
C) The ability to conduct research independently, knowledge pertaining to society and occupations, and sense of ethics required of engineers and researchers　0%
D) Creative skills in specific areas of specialization　0%

This course introduces the principles of sensors and systems that measure human movement to students taking this course. At the end of the course, participants are expected to describe the sensor fusion that obtains new functions by integrating and processing information from multiple sensors. Specifically, participants describe the principle of sensor fusion using inertial sensors and geomagnetic sensors and a Kalman filter. It also enhances the development of students’ skill in carrying out a 3D posture estimation of humans.

Basic knowledge of linear algebra (especially matrices) and instrumentation engineering

Presentation／Practice Fieldwork

This course will be divided in 15 chapters as follows:
1. Introduction: What is motion measurement? (on demand class)
2. Measurement principles and handling of various sensors I (Gyroscope)
3. Measurement principles and handling of various sensors II (Accelerometer, Magnetometer)
4. Angle definition and coordinate transformation
5. Rotation matrix
6. Roll and Pitch calculation using acceleration
7. Yaw calculation using geomagnetism
8. Overview of Kalman filter
9. Least squares estimation method
10. Probability, Bayesian statistics
11. Linear Kalman filter
12. Sensor fusion for pose estimation
13. Exercise (Implementation of Kalman filter using MATLAB)
14. Exercise (Implementation of Kalman filter using MATLAB)
15. Final presentation
No periodic examination.

Your final grade will be calculated according to the following process: Reports 40%, Presentation 60%. To pass, students must earn at least 60 points out of 100.
*If you are absent for more than one-third of the total class days (5 and more than 5 classes), your grade will not be evaluated as it will be considered as a abandonment of the class.
*Answering the oral examination during class will be considered attendance.

At the beginning of every class, the explanation of previous homework will be given. If necessary, we also provide homework answers on KU-LMS.

Distribute lecture materials and supplementary materials.

カルマンフィルタの基礎，足立修一，丸田一郎，東京電機大学出版局

Please come anytime
Office : Hachioji 4-804
E-mail : st13660@ns.kogakuin.ac.jp

The 2nd to 14th classes will be held face-to-face.

Not applicable

Mechanical Engineering Program