Analisis Geometri Dan Kinerja Integrated Low-Cost LiDAR-GNSS-IMU Pada UAV Terhadap LiDAR Konvensional Dalam Pemetaan 3D

Laksmana, Miko Cahya (2025) Analisis Geometri Dan Kinerja Integrated Low-Cost LiDAR-GNSS-IMU Pada UAV Terhadap LiDAR Konvensional Dalam Pemetaan 3D. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penelitian ini bertujuan untuk menganalisis dan membandingkan kinerja sistem pemetaan 3D berbasis Unmanned Aerial Vehicle (UAV) menggunakan teknologi Integrated low-cost LiDAR-IMU-GNSS yang terintegrasi dengan sistem LiDAR konvensional DJI Zenmuse L2, pada area perkebunan kelapa sawit yang tergolong wilayah rural sesuai Peraturan Kepala BIG Nomor 18 Tahun 2021. Area tersebut dapat dilakukan pemetaan topografi menggunakan sensor LiDAR. Sistem low-cost LiDAR mengadopsi pendekatan Simultaneous Localization and Mapping (SLAM) dengan algoritma LOAM (LiDAR Odometry and Mapping). Evaluasi dilakukan berdasarkan akurasi terhadap titik validasi GNSS RTK, ketelitian vertikal dan horizontal, serta efisiensi operasional yang meliputi waktu pemrosesan, ukuran data, dan biaya. Hasil menunjukkan bahwa sistem low-cost LiDAR menghasilkan nilai Root Mean Square Error (RMSE) vertikal sebesar 0,405 m dan RMSE horizontal 0,0477 m, dengan nilai CE90 dan LE90 yang sesuai dengan kelas 1 pada skala peta 1:5.000 menurut Perka BIG. Analisis korelasi Digital Elevation Model (DEM) antara kedua sistem menghasilkan koefisien determinasi R² sebesar 0,9966, menunjukkan korelasi yang sangat kuat, serta tidak terdapat perbedaan variansi signifikan terhadap hasil Zenmuse L2 (p-value > 0,5). Dari sisi akurasi horizontal berdasarkam pengamatan GCP, diperoleh nilai RMSEr sebesar 0,0920 m dengan nilai CE90 sebesar 13,97 cm. Sementara itu, nilai LE90 berada pada rentang 2,2–6,7 cm. Berdasarkan Peraturan Kepala BIG Nomor 18 Tahun 2021 untuk peta skala 1:5.000 kelas 3. Dari sisi efisiensi, sistem low-cost LiDAR mencatat, pengurangan ukuran data hingga 70,3% yang memberikan keringanan dalam software untuk mengolah data, dan efisiensi biaya mencapai 70,8% dibandingkan sistem konvensional yang bisa menekan biaya pengelolaan infrastruktur atau lainnya yang menggunakan teknologi sensor LiDAR. Meskipun dari aspek akurasi geometrik DJI Zenmuse L2 masih lebih unggul, sistem low-cost dinilai memadai untuk menghasilkan DEM skala 1:5.000 dengan ketelitian kelas 1 sesuai standar nasional. Dengan demikian, sistem pemetaan 3D berbasis UAV yang mengintegrasikan teknologi low-cost LiDAR-GNSS-IMU memiliki potensi besar sebagai solusi pemetaan topografi yang ekonomis, efisien, dan andal, terutama untuk wilayah dengan vegetasi lebat dan medan kompleks.
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This study aims to analyze and compare the performance of 3D mapping systems based on Unmanned Aerial Vehicles (UAVs) using integrated low-cost LiDAR-IMU-GNSS technology, in comparison with the conventional LiDAR system DJI Zenmuse L2, in an oil palm plantation area classified as a rural region according to the Head of BIG Regulation Number 18 of 2021. The area is eligible for topographic mapping using LiDAR sensors. The low-cost LiDAR system adopts the Simultaneous Localization and Mapping (SLAM) approach using the LOAM (LiDAR Odometry and Mapping) algorithm. The evaluation was conducted based on the accuracy of GNSS RTK validation points, vertical and horizontal precision, as well as operational efficiency, including processing time, data size, and cost. The results show that the low-cost LiDAR system produced a vertical Root Mean Square Error (RMSE) of 0.405 m and a horizontal RMSE of 0.0477 m, with CE90 and LE90 values complying with Class 1 standards for 1:5,000 scale maps as stipulated in the BIG Regulation. The correlation analysis of the Digital Elevation Model (DEM) between the two systems yielded a coefficient of determination (R²) of 0.9966, indicating a very strong correlation, and no significant variance difference was found compared to the Zenmuse L2 results (p-value > 0.5). In terms of horizontal accuracy based on GCP observations, the RMSEr value was 0.0920 m, with a CE90 value of 13.97 cm. Meanwhile, the LE90 value ranged from 2.2 to 6.7 cm, which meets the accuracy standards for 1:5,000 scale Class 3 maps as specified in the BIG Regulation Number 18 of 2021. From an efficiency standpoint, the low-cost LiDAR system recorded a data size reduction of up to 70.3%, easing data processing workloads in software, and achieved cost efficiency of up to 70.8% compared to the conventional system, which may reduce infrastructure or other sensor technology-related expenses. Although the DJI Zenmuse L2 remains superior in terms of geometric accuracy, the low-cost system is considered sufficient for producing 1:5,000 scale DEMs with Class 1 precision based on national standards. Therefore, the UAV-based 3D mapping system that integrates low-cost LiDAR-GNSS-IMU technology has great potential as an economical, efficient, and reliable topographic mapping solution, especially in areas with dense vegetation and complex terrain.

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	LiDAR, Low-cost, DEM, Ground Classification, Perkebunan Berkelanjutan, Low-cost, DEM, Ground Classification, Sustainable Plantation.
Subjects:	T Technology > TA Engineering (General). Civil engineering (General) > TA590 Topographical surveying T Technology > TA Engineering (General). Civil engineering (General) > TA593 Orthophotography T Technology > TA Engineering (General). Civil engineering (General) > TA593.35 Instruments, cameras, etc.
Divisions:	Faculty of Civil, Planning, and Geo Engineering (CIVPLAN) > Geomatics Engineering > 29101-(S2) Master Thesis
Depositing User:	Miko Cahya Laksmana
Date Deposited:	24 Jul 2025 09:39
Last Modified:	24 Jul 2025 09:39
URI:	http://repository.its.ac.id/id/eprint/121366

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