ESTIMASI LINTASAN RIGID BODY MENGGUNAKAN KALMAN FILTER DAN ROTASI MATRIKS

As’ari Wahyudi, Muhammad (2022) ESTIMASI LINTASAN RIGID BODY MENGGUNAKAN KALMAN FILTER DAN ROTASI MATRIKS. Skripsi thesis, Institut Teknologi Dirgantara Adisutjipto.

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Abstract

In controlling the navigation system, one of the most important things is in determine the position and the orientation. Sensors that are commonly used to determine the state of an object include the IMU (Inertial Measurement Unit) sensors. Basically the navigation system uses a system called dead reckoning, where with this system air navigation will get some information, including position in earth coordinates, direction, time, and speed. However, the IMU cannot determine the trajectory of the rigid body, which functions to determine the trajectory and direction of movement of an object. At this time the author conducted the research about Matrix Rotation and the IMU (Inertial Measurement Unit) on the accelerometer sensors. The use of data from this sensor aims to get an estimate of the translational distance or displacement of an object and an estimate of the rigid body trajectory and its direction in navigation coordinates. Collecting data from the accelerometer sensor using the Sensorstream IMU+GPS application on an android smartphone, then processing it using the state space system modeling method with Kalman Filter to change the system modeling to a matrix operating form, so that the process of calculating data to the Kalman Filter algorithm is not difficult. This study got good results, where the sensor data that has been converted with matrix rotation and is already in navigation coordinates or global acceleration, and the results are able to display the estimated trajectory and displacement of an object. In the graph the results show a positive value for the x-axis to the north, the y-axis to the east, and a positive value to the z-axis to the bottom (earth).

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