Koreksi Sudut Attitude Quadrotor pada saat Dinamis dengan Mengubah Bobot Data Sensor pada Kalman Filter

Lasmadi Lasmadi, Muhammad Ali Dakir, Freddy Kurniawan, Sudarmanto Sudarmanto

Submitted : 2022-12-28, Published : 2023-02-16.

Abstract

Penggunaan data fusion menggunakan Kalman filter untuk menggabungkan data dari giroskop dan akselerometer dalam rangka menentukan sudut attitude pada quadrotor tidak selamanya menghasilkan data yang akurat. Sensor akselerometer tidak dapat menentukan data percepatan secara akurat pada saat kondisi dinamis, sementara itu nilai sudut hasil propagasi dari data giroskop mempunyai akumulasi galat yang semakin tinggi dengan berjalannya waktu. Untuk itu, pada penelitian ini digunakan Kalman filter yang dapat memberikan bobot yang lebih besar pada data giroskop saat quadrotor dalam kondisi dinamis. Metode yang digunakan adalah dengan menaikkan nilai matriks kovarian derau pengukuran pada saat kondisi dinamis. Penentuan kondisi dinamis dilakukan dengan membandingkan nilai varian data percepatan dengan nilai ambang batas. Dari hasil penelitian, metode ini terbukti dapat menurunkan galat sudut roll dari 9,3052 % menjadi 0,0635 % dan sudut pitch dari 0,0021 % menjadi 0,0015 %.

Keywords

Koreksi sudut Attitude, Kalman filter, bobot data sensor, kovarian derau pengukuran, varian data percepatan

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http://dx.doi.org/10.28989/avitec.v5i1.1442

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