Rancang Bangun Kontroller Virtual Reality Dengan Magnetometer Akselerometer Giroskop (MARG) Dan Filter Madgwick

Saputro, Rachmad Sudibyo Danu (2017) Rancang Bangun Kontroller Virtual Reality Dengan Magnetometer Akselerometer Giroskop (MARG) Dan Filter Madgwick. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Pada tugas akhir ini telah dibuat dan dianalisa kontroller
virtual reality berbasis sensor magnetometer HMC5883L,
akselerometer beserta giroskop MPU6050, dan mikrokontroller
Arduino ATMEGA328. Keluaran dari sistem berupa nilai
orientasi sudut putar yaw, pitch dan roll, kemudian diberikan
variasi konstanta β untuk mengetahui pengaruhnya terhadap
nilai keluaran. Kalibrasi terhadap akselerometer dan giroskop
dilakukan dengan menggunakan fitur terdapat pada sensor yang
digunakan, sedangkan kalibrasi terhadap magnetometer
digunakan software magmaster. Hasil dari kalibrasi
magnetometer berupa nilai bias berturut-turut pada sumbu x, y
dan z sebesar -27.784 mili gauss, 30.580 mili gauss dan 65.437
mili gauss. Pengujian sistem dilakukan pada keadaan statis dan
dinamis. Dari hasil pengujian semakin besar nilai konstanta β,
semakin cepat waktu untuk mencapai keadaan steady-state.
Nilai optimum konstanta β adalah 0.05 dikarenakan memiliki
Root Mean Square Error yang terkecil diantara variasi lainnya.

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In this final project has been made and analyzed
controller-based virtual reality HMC5883L magnetometer sensor,
MPU6050 accelerometer and gyroscope sensors and Arduino
microcontroller ATmega328. The output of system is orientations
value yaw, pitch and roll, then given the constant β variation to
determine the effect on the output. Calibration of the
accelerometer and gyroscope is done by using the features found
on the sensor used, while the magnetometer calibration software
used magmaster. Results of the magnetometer calibration is bias
value in x, y and z axis. Those bias value are -27,784 milli gauss,
30, 580 milli gauss and 65,437 milli gauss. Performance of system
tested on static and dynamic state. From the test results the greater
the value of the constant β, result faster time to reach steady-state.
The optimum value of the constant β is 0,05 due to smallest Root
Mean Square Error among other variations.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	filter Madgwick; konstanta β; nilai orientasi dan Root Mean Square Error; Madgwick filter
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105.546 Computer algorithms
Divisions:	Faculty of Mathematics and Science > Physics > 45201-(S1) Undergraduate Thesis
Depositing User:	- RACHMAD SUDIBYO DANAU SAPUTRO
Date Deposited:	17 Apr 2017 02:07
Last Modified:	22 Dec 2017 06:49
URI:	http://repository.its.ac.id/id/eprint/3618

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