Purwarupa Air Data, Attitude, dan Heading Reference System untuk Unmanned Aerial Vehicle
| Main Authors: | Manggala, Adrianus Prima, Sumiharto, Raden, Wibowo, Setyawan Bekti |
|---|---|
| Other Authors: | indoceiss |
| Format: | Article info application/pdf Journal |
| Bahasa: | eng |
| Terbitan: |
Indonesian Computer, Electronics, and Instrumentation Support Society (IndoCEISS)
, 2012
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| Online Access: |
https://journal.ugm.ac.id/ijeis/article/view/2337 https://journal.ugm.ac.id/ijeis/article/view/2337/2099 |
| ctrlnum |
article-2337 |
|---|---|
| fullrecord |
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<dc schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/ http://www.openarchives.org/OAI/2.0/oai_dc.xsd"><title lang="en-US">Purwarupa Air Data, Attitude, dan Heading Reference System untuk Unmanned Aerial Vehicle</title><creator>Manggala, Adrianus Prima</creator><creator>Sumiharto, Raden</creator><creator>Wibowo, Setyawan Bekti</creator><description lang="en-US">AbstrakADAHRS  (air data, attitude, and heading reference system )merupakan gabungan dari sensor air data (AD) dan sistem referensi attitude and heading (AHRS). Sistem ini memiliki peran penting dalam memberikan data parameter-parameter penerbangan yang akan digunakan oleh modul lain dalam UAV. Parameter penerbangan yssang dibaca oleh ADAHRS adalah sudut yaw, sudut pitch, sudut roll, serta data ketinggian, kecepatan, suhu, tekanan, dan koordinat GPS yang akan digunakan sebagai referensi dalam mengontrol UAV.Sistem ADAHRS yang diteliti berbasis pada Arduino Mega 2560. Sistem mendapatkan data dari sensor Razor 9DOF IMU, sensor ketinggian berbasis BMP085, sensor kecepatan udara berbasis MPXV5004DP + pitot sederhana, dan penerima GPS PMB648. Data dari sensor-sensor tersebut akan diolah untuk kemudian dikirimkan ke modul lain dalam UAV melalui komunikasi serial.Hasil dari penelitian ini adalah sebuah sistem pembacaan parameter data penerbangan yang dapat mengirimkan data dengan output rate 18 Hz dan waktu inisialisasi <1 s. Sensor IMU memiliki ralat rata-rata 0,80° untuk pitch, roll sebesar 0,70°, dan yaw 0,78°. Sensor ketinggian memiliki nilai ralat rata-rata 12,42 m, sensor kecepatan dan pitot sederhana memiliki nilai ralat 8,05 km/jam. Sedangkan GPS receiver memiliki akurasi 7,5 m untuk ketinggian dan 6,19 m untuk posisi, tetapi dengan update rate hanya 1 Hz. Kata kunci— UAV, ADAHRS, sensor, Air Data, AHRS. AbstractADAHRS(air data, attitude, and heading reference system ) is formed from a fusion of air data sensor (AD) along together with attitude and heading reference system (AHRS). This system has important role in feeding flight parameters data to be used by other UAV’s module. Flight parameter that being read consist of yaw angle, pitch angle, roll angle, altitude, air speed, temperature, air pressure, and GPS coordinate that will be referenced for controlling the UAV.The ADAHRS system under research is based on Arduino Mega 2560. The system acquired attitude data from Razor 9 DOF IMU, altitude sensor based on BMP085, air speed sensor based on MPXV5004DP + simple pitot tube, and geographical data from PMB648 GPS receiver. Data from sensors will be processed and transmitted to other UAV’s module via serial communication. The result of this research is flight parameter reading system that have 18 Hz data output rate and <1 second initialization time. IMU sensor has a mean error value  0,80° for pitch, 0,70° for roll,  and 0,78° for yaw. Altitude sensor based on BMP085 has a mean error value at 12,42 m, air speed sensor and simple pitot tube has a mean error value at 8,05 km/h. GPS receiver has accuracy 7,5 m for altitude and 6,19 m for position, but only with 1 Hz update rate.   Keywords— UAV, ADAHRS, sensor, Air Data, AHRS.</description><publisher lang="en-US">Indonesian Computer, Electronics, and Instrumentation Support Society (IndoCEISS)</publisher><contributor lang="en-US">indoceiss</contributor><date>2012-04-30</date><type>Journal:Article</type><type>Other:info:eu-repo/semantics/publishedVersion</type><type>Other:</type><type>File:application/pdf</type><identifier>https://journal.ugm.ac.id/ijeis/article/view/2337</identifier><identifier>10.22146/ijeis.2337</identifier><source lang="en-US">IJEIS (Indonesian Journal of Electronics and Instrumentation Systems); Vol 2, No 1 (2012): April; 21-32</source><source>2460-7681</source><source>2088-3714</source><language>eng</language><relation>https://journal.ugm.ac.id/ijeis/article/view/2337/2099</relation><rights lang="en-US">Copyright (c) 2017 IJEIS - Indonesian Journal of Electronics and Instrumentation Systems</rights><rights lang="en-US">http://creativecommons.org/licenses/by-sa/4.0</rights><recordID>article-2337</recordID></dc>
|
| language |
eng |
| format |
Journal:Article Journal Other:info:eu-repo/semantics/publishedVersion Other Other: File:application/pdf File Journal:Journal |
| author |
Manggala, Adrianus Prima Sumiharto, Raden Wibowo, Setyawan Bekti |
| author2 |
indoceiss |
| title |
Purwarupa Air Data, Attitude, dan Heading Reference System untuk Unmanned Aerial Vehicle |
| publisher |
Indonesian Computer, Electronics, and Instrumentation Support Society (IndoCEISS) |
| publishDate |
2012 |
| url |
https://journal.ugm.ac.id/ijeis/article/view/2337 https://journal.ugm.ac.id/ijeis/article/view/2337/2099 |
| contents |
AbstrakADAHRS (air data, attitude, and heading reference system )merupakan gabungan dari sensor air data (AD) dan sistem referensi attitude and heading (AHRS). Sistem ini memiliki peran penting dalam memberikan data parameter-parameter penerbangan yang akan digunakan oleh modul lain dalam UAV. Parameter penerbangan yssang dibaca oleh ADAHRS adalah sudut yaw, sudut pitch, sudut roll, serta data ketinggian, kecepatan, suhu, tekanan, dan koordinat GPS yang akan digunakan sebagai referensi dalam mengontrol UAV.Sistem ADAHRS yang diteliti berbasis pada Arduino Mega 2560. Sistem mendapatkan data dari sensor Razor 9DOF IMU, sensor ketinggian berbasis BMP085, sensor kecepatan udara berbasis MPXV5004DP + pitot sederhana, dan penerima GPS PMB648. Data dari sensor-sensor tersebut akan diolah untuk kemudian dikirimkan ke modul lain dalam UAV melalui komunikasi serial.Hasil dari penelitian ini adalah sebuah sistem pembacaan parameter data penerbangan yang dapat mengirimkan data dengan output rate 18 Hz dan waktu inisialisasi <1 s. Sensor IMU memiliki ralat rata-rata 0,80° untuk pitch, roll sebesar 0,70°, dan yaw 0,78°. Sensor ketinggian memiliki nilai ralat rata-rata 12,42 m, sensor kecepatan dan pitot sederhana memiliki nilai ralat 8,05 km/jam. Sedangkan GPS receiver memiliki akurasi 7,5 m untuk ketinggian dan 6,19 m untuk posisi, tetapi dengan update rate hanya 1 Hz. Kata kunci— UAV, ADAHRS, sensor, Air Data, AHRS. AbstractADAHRS(air data, attitude, and heading reference system ) is formed from a fusion of air data sensor (AD) along together with attitude and heading reference system (AHRS). This system has important role in feeding flight parameters data to be used by other UAV’s module. Flight parameter that being read consist of yaw angle, pitch angle, roll angle, altitude, air speed, temperature, air pressure, and GPS coordinate that will be referenced for controlling the UAV.The ADAHRS system under research is based on Arduino Mega 2560. The system acquired attitude data from Razor 9 DOF IMU, altitude sensor based on BMP085, air speed sensor based on MPXV5004DP + simple pitot tube, and geographical data from PMB648 GPS receiver. Data from sensors will be processed and transmitted to other UAV’s module via serial communication. The result of this research is flight parameter reading system that have 18 Hz data output rate and <1 second initialization time. IMU sensor has a mean error value 0,80° for pitch, 0,70° for roll, and 0,78° for yaw. Altitude sensor based on BMP085 has a mean error value at 12,42 m, air speed sensor and simple pitot tube has a mean error value at 8,05 km/h. GPS receiver has accuracy 7,5 m for altitude and 6,19 m for position, but only with 1 Hz update rate. Keywords— UAV, ADAHRS, sensor, Air Data, AHRS. |
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Universitas Gadjah Mada |
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