Rancang Bangun Quadrotor Surveillance D23 Dengan Auto Guidance And Navigation Menggunakan Estimasi Posisi Kalman Filter

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. ================================================================================================================== 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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