MENENTUKAN ATTITUDE QUADROTOR BERDASARKAN PERUBAHAN KOVARIAN DERAU PENGUKURAN PADA SUMBU ROLL DAN PITCH

Suprianto, Andy (2023) MENENTUKAN ATTITUDE QUADROTOR BERDASARKAN PERUBAHAN KOVARIAN DERAU PENGUKURAN PADA SUMBU ROLL DAN PITCH. Thesis thesis, Institut Teknologi Dirgantara Adisutjipto.

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Abstract

The results of the calculation of the orientation of the magnetometer sensor have a weakness when it shows the direction of the earth's magnetic field, because the orientation results of the magnetometer sensor have a large enough noise in the recorded sensor data, so that the orientation results from a combination of accelerometer, gyroscope and magnetometer sensors using IMU are very necessary to correct the Attitude and Heading angles on the UAV both in static and dynamic conditions.To reduce the orientation error, an algorithm is added to change the value of the measurement noise covariance matrix (R) by using the acceleration variant method to give different weights to the accelerometer sensor and gyroscope sensor. During dynamic conditions the value of the measurement noise covariance matrix (R) will be lowered, this is intended so that the Kalman filter gives greater weight to the measured data Zk. When the condition is static the value of the measurement noise matrix (R) returns to its original value. It is intended that the Kalman filter uses more data from the prediction process (Xk−). That way the lack of accelerometer sensors and gyroscope sensors can be minimized. The results of this study are quadrotor orientation angle values and graphical outputs from combining data from accelerometer sensors, gyroscope sensors, and magnetometer sensors using Kalman filters and changes in the value of the measurement noise covariance matrix (R). The results of the angle in this study resulted in an average error in the roll attitude of 8,51% and in the pitch attitude of 0,2789%.

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