PENENTUAN KOREKSI SUDUT ATTITUDE PADA QUADROTOR MENGGUNAKAN ALGORITMA ZERO ACCELARATION COMPENSATION

Avisena, Shandy (2021) PENENTUAN KOREKSI SUDUT ATTITUDE PADA QUADROTOR MENGGUNAKAN ALGORITMA ZERO ACCELARATION COMPENSATION. Skripsi thesis, Institut Teknologi Dirgantara Adisutjipto.

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Abstract

Orientation estimation with sensors of accelerometer and gyroscope shows quite large errors under certain conditions. Calculations with the sensor accelerometer show reliability when static but have an error when dynamic. Calculations with the sensor gyroscope show reliable static and dynamic conditions but errors continue to accumulate during data recording which makes the orientation calculation less accurate. This study aims to produce a more accurate orientation with zero acceleration compensation algorithm. The method used is to measure the acceleration value of thesensor covariance value accelerometer. The combination of the sensors accelerometer and gyroscope (IMU) using the method Kalman filter plus the algorithm is zero acceleration compensation intended to compensate for the orientation calculation on the accelerometer when the acceleration is static and the orientation calculation using the gyroscope sensor when it is dynamic. The results of this study are orientation quadrotor using the Kalman filter, which can reduce errors and changes in orientation results with zero acceleration compensation algorithm compared to HP orientation results. The orientation results produced an error in the attitude roll with an accuracy of 96.77%, and an error in the attitude pitch with an accuracy of 98.81%.

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