MENENTUKAN ATTITUDE QUADROTOR BERDASARKAN PERUBAHAN KOVARIAN DERAU PENGUKURAN

Anggik Saputri, Ika (2023) MENENTUKAN ATTITUDE QUADROTOR BERDASARKAN PERUBAHAN KOVARIAN DERAU PENGUKURAN. Thesis thesis, Institut Teknologi Dirgantara Adisutjipto.

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Abstract

As a sophisticated communication device with its own functions, Android based smartphones are now equipped with various sensors, which are used as one of the components in a smartphone. One of the sensors currently available on smartphones is the IMU (Inertial Measurement Unit) sensor itself, which is capable of detecting movement on the x, y, and z axes, which will provide convenience and comfort for its users. We can see the x, y, and z axes themselves in the rotation feature on a smartphone. Of course, the IMU sensor is also divided into several combinations, including an accelerometer (acceleration sensor) and a gyroscope (angular speed sensor). The accelerometer sensor provides data that is used to measure the acceleration of an object, while the gyroscope sensor measures the rotational speed or angular velocity of an object. The research method was carried out by collecting data from various sensors, such as the accelerometer sensor and the gyroscope sensor, to reduce orientation errors. The algorithm then changed the value of the measurement noise covariance matrix (R) using the acceleration variant method to give different values to the accelerometer sensor and the gyroscope sensor. It is intended that the Kalman filter be larger in the data resulting from the measurement process. Thus, the lack of accelerometer and gyroscope sensors can be minimized. The results of this study are that the best R measurement noise value is at value 13 with an error of 6.8862% (Roll), on the Y axis it is obtained at a value of 15 with an error of 0.1562% (Pitch), and on the Z axis it is obtained at a value of 1 with an error of 26.0830% (Yaws). With a change in the R value for each axis, it is declared a dynamic condition because the movement is more dominant. Sensor recording data (accelerometer, gyroscope, and magnetometer) and orientation can be retrieved using the IMU GPS Stream application for as much as 6090 data points for 120 seconds. The results for the absolute error value of Attitude are 0.015 (Roll), 0.0115 (Pitch), and 7.6997 (Yaw).

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