KALMAN FILTER UNTUK MENGURANGI DERAU SENSOR ACCELEROMETER PADA INERTIAL MEASUREMENT UNIT GUNA ESTIMASI JARAK

Ari Roma Wicaksono, Muhammad (2020) KALMAN FILTER UNTUK MENGURANGI DERAU SENSOR ACCELEROMETER PADA INERTIAL MEASUREMENT UNIT GUNA ESTIMASI JARAK. Skripsi thesis, Institut Teknologi Dirgantara Adisutjipto.

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Abstract

The rapid development of technology today much of the equipment using the remote control concept even automatic control. Where equipment using automatic control systems require multiple sensors to determine the situation of the surrounding environment. One of equipment that uses several sensors is the IMU (Inertial Measurement Unit). IMU is a measuring instrument speed, and orientation of the motion. In the IMU system, there are sensor accelerometer, gyroscope, and magnetometer. Sensors are used to measure the distance of the movement of this time is the accelerometer sensor. This sensor is very sensitive to vibration so that there is noise that will affect the calculation results. In order to reduce the noise used Kalman Filter. In this study aims to develop a Kalman filter algorithms in order to reduce the noise as effectively as possible. The method used is modeling the system to model the accelerometer system to form mathematical equations. Then the state space method is used to change the system modeling to the form of matrix operations, so that the process of the data calculating to the Kalman Filter algorithm is not too difficult. It also uses the threshold algorithm to detect the sensor's condition at rest. The present study had good results, which of the four experiments obtained with an average accuracy of 93%. The threshold algorithm successfully reduces measurement errors when the sensor is at rest or static, so that the measurement results more accurate. The developed algorithm can also detect the sensor to move forward or backwar.

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