ESTIMASI SUDUT PERGERAKAN BENDA
BERBASIS SENSOR IMU (INERTIAL MEASUREMENT UNIT)
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Institusion
INSTITUT TEKNOLOGI DIRGANTARA ADISUTJIPTO
Author
Irfan Pamungkas, Muhammad
Subject
T Technology (General)
Datestamp
2024-05-30 01:48:02
Abstract :
As a communication device that is rich in functions, Android-based smartphones are now equipped with various sensors which are used as components in a smartphone. One of the sensors found on smartphones today is the IMU (Inertial Measurement Unit) sensor. The IMU (Inertial Measurement Unit) sensor is capable of moving on the x, y, and z axes which can be seen in the rotation feature. The IMU sensor is also divided into several combinations, one of which is a gyroscope sensor (angular speed sensor). However, of course the gyroscope is also inseparable from its drawbacks, namely the noise in the output signal. This noise can cause inaccurate data provided by the sensor gyroscope. So that the data cannot be used as accurate data for a research result. To reduce noise that can interfere with the output signal in the gyroscope data calculation, the Kalman Filter is used. So that it has a final calculation value that refers to the value of the orientation data. The test results in this study showed that the final data on the angle of movement of objects before being filtered were 97.337º on the x-axis (roll), -86.584º on the y-axis (pitch) and -91.595º on the z (yaw) axis. Meanwhile, the result data after filtering is 88.522º on the x-axis (roll), -87.995º on the y-axis (pitch) and - 85.387º on the z (yaw) axis.
As a communication device that is rich in functions, Android-based smartphones are now equipped with various sensors which are used as components in a smartphone. One of the sensors found on smartphones today is the IMU (Inertial Measurement Unit) sensor. The IMU (Inertial Measurement Unit) sensor is capable of moving on the x, y, and z axes which can be seen in the rotation feature. The IMU sensor is also divided into several combinations, one of which is a gyroscope sensor (angular speed sensor). However, of course the gyroscope is also inseparable from its drawbacks, namely the noise in the output signal. This noise can cause inaccurate data provided by the sensor gyroscope. So that the data cannot be used as accurate data for a research result. To reduce noise that can interfere with the output signal in the gyroscope data calculation, the Kalman Filter is used. So that it has a final calculation value that refers to the value of the orientation data. The test results in this study showed that the final data on the angle of movement of objects before being filtered were 97.337º on the x-axis (roll), -86.584º on the y-axis (pitch) and -91.595º on the z (yaw) axis. Meanwhile, the result data after filtering is 88.522º on the x-axis (roll), -87.995º on the y-axis (pitch) and - 85.387º on the z (yaw) axis.
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