Fadhilah, Archit (2016) Rancang Bangun Quadrotor Surveillance D23 Dengan Auto Guidance And Navigation Menggunakan Estimasi Posisi Kalman Filter. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Unmanned Aerial Vehicles (UAV) merupakan mesin
terbang tanpa awak yang pada mulanya dikembangkan untuk
keperluan militer. Seiring perkembangan zaman, UAV
digunakan disegala bidang meliputi pemantauan,
photography, videography, mapping, pertanian hingga
Search and Rescue (SAR). Penggunan UAV terbukti dapat
dijadikan alternative dalam misi berbahaya dan berisiko
tinggi, dimana pesawat berawak tidak diijinkan karena
membahayakan pilot dan kru-pesawat. Penggunaan UAV
dalam berbagai bidang ini membantu menekan biaya operasi,
karena biaya menggunakan pesawat berawak sanga mahal.
Dalam Tugas Akhir kali ini dirancang dan dibangun
sebuah UAV quadrotor dengan misi surveillance yang
dilengkapi fitur auto guidance and navigation. Tahapan
dalam tugas akhir ini yaitu meliputi studi literatur,
perancangan quadrotor, analisa struktur dan analisa estimasi
posisi quadrotor menggunakan metode kalman filter.
Perangkat lunak yang digunakan untuk menunjang tugas
akhir ini yaitu perangkat lunak MATLAB dan CATIA Dari tugas akhir ini didapatkan sebuah quadrotor
surveillance D23 dengan dimensi point to point 450 × 450
mm, bermassa 1360 gram, daya jelajah 550 meter dengan
ketinggian terbang aman dibawah 150 meter. Dilengkapi
dengan kamera, perangkat video sender dan telemetri.
Sedangkan berdasar analisa estimasi posisi gerak quadrotor
mengikuti guidance dan navigation melalui perangkat lunak
MATLAB dinyatakan telah memenuhi spesifikasi
perancangan yakni error dalam RMSE dibawah 5% pada
kedua lintasan uji. Pada lintasan lurus maju sumbu x, error
terhadap sumbu x sebesar 4.84% dan error terhadap sudut
pitch sebesar 3.14%. Pada lintasan lingkaran didapat nilai
error sumbu x, y, sudut rool dan yaw berturut-turut 3.42, 3.01,
3.17 dan 3.12%. Jarak optimum Citra gambar yang
dikirimkan quadrotor ke ground station dapat diterima secara
baik berada pada ketinggian 150 meter dan jarak/radius 550
meter.
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Unmanned Aerial Vehicles (UAV) is an unmanned
flying machine that was originally developed for military
purposes. Along with the times, UAVs are used in all fields
include monitoring, photography, videography, mapping,
agriculture to Search and Rescue (SAR). Use of proven UAV
can be used as an alternative to dangerous and high-risk
missions, where the manned aircraft are not permitted for
endangering pilots and air crew. The use of UAVs in various
fields of this help reduce operating costs, because the cost of
using manned aircraft it’s too expensive.
In this final project, designed and built a quadrotor
UAV with surveillance missions equipped with an auto
guidance and navigation. Stages in this final project which
includes the study of literature, quadrotor design, structural
analysis and analysis quadrotor position estimation using the
Kalman filter. The software used to support this thesis is the
MATLAB software and CATIA.
From this final project obtained a surveillance
quadrotor D23 with point to point dimension of 450 × 450
mm, mass 1360 g, a cruising range of 550 meters with a height safely fly below 150 meters. Equipped with cameras,
video sender and telemetry. While based on the analysis of
motion estimation quadrotor position following the guidance
and navigation through the software MATLAB found to
comply with the design specifications in the RMSE error of
less than 5% for two test of track. In a straight line forward
the x-axis track, the x-axis error of 4.84% and the error of the
pitch angle of 3.14%. At loop track error value obtained axes
x, y, yaw and angle roll successively 3.42, 3.01, 3.17 and
3.12%. Distance optimum image transmitted images
quadrotor to ground station can be received well at an altitude
of 150 meters and the distance / radius of 550 meters.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSM 629.135 5 Fad r |
| Uncontrolled Keywords: | Quadrator, Aerial sarveillance, Kalmanfilter, Estimasi |
| Subjects: | Q Science > QA Mathematics > QA402.3 Kalman filtering. |
| Divisions: | Faculty of Industrial Technology > Mechanical Engineering > 21201-(S1) Undergraduate Thesis |
| Depositing User: | ansi aflacha |
| Date Deposited: | 29 Jun 2020 03:14 |
| Last Modified: | 29 Jun 2020 03:14 |
| URI: | http://repository.its.ac.id/id/eprint/76243 |
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