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<![CDATA[Attitude Estimation for Quadrotor Based on IMU with Kalman-Filter ]]>
<![CDATA[Lasmadi, Lasmadi]]>
<![CDATA[ SENATIK STT Adisutjipto Vol 4 (2018): Transformasi Teknologi untuk Mendukung Ketahanan Nasional [ ISBN 978-602-52742-0-6 ] ]]>
Publisher : <![CDATA[Sekolah Tinggi Teknologi Adisutjipto ]]>
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DOI: 10.28989/senatik.v4i0.267
<![CDATA[Improved a quadrotor technology that is capable of fast maneuvering requires accurate attitude estimation or navigation to maintain a quadrotor stability. The GPS can provide position measurements with an accuracy of several meters, but cannot provide orientation information directly. This study aims to design a quadrotor attitude navigation system based on IMU sensors on AR Drone 2.0 with a Kalman filter using the equation of state space model. The system model was developed using the Matlab software. The Kalman filter is designed as an estimator to reduce noise on the sensor so that it can improve measurement accuracy. The test results showed that the system model can be used to estimated the orientation angle and shift of the quadrotor, while the Kalman filter that designed can reduce noise in the sensor data. At the time of tested, the system provided the measurement accuracy of above 90% when tested indoor.]]>
<![CDATA[Pengaruh Penggunaan Perturb & Observe pada MPPT terhadap Daya Keluaran Sel Surya ]]>
<![CDATA[Dalimunthe, Ernando Rizki]]>;
<![CDATA[Kurniawan, Freddy]]>;
<![CDATA[Lasmadi, Lasmadi]]>
<![CDATA[ AVITEC Vol 1, No 1 (2019): Agustus 2019 ]]>
Publisher : <![CDATA[Sekolah Tinggi Teknologi Adisutjipto ]]>
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DOI: 10.28989/avitec.v1i1.483
<![CDATA[Optimizing the solar cell output power requires a tracker. The tracker which produce a maximum output power is called a maximum power point tracking (MPPT). In this research, each component in MPPT is modeled into Simulink. By using a perturb and observe (P & O) algorithms, this simulation is designed to optimize the solar cell output power. The output of the algorithm is a duty cycle. This parameter is fed into a buck-boost converter to convert the solar cell output voltage to the output voltage. The simulation results show that MPPT can increase the output power up to 37.82% dispite of the sun irradiation, temperature and load changes.]]>
<![CDATA[Pemodelan dan Simulasi Robot Lengan 3 DOF Menggunakan V-REP ]]>
<![CDATA[Uchrowi, AZ]]>;
<![CDATA[Lasmadi, Lasmadi]]>;
<![CDATA[Soekarno, Sutjianto]]>
<![CDATA[ AVITEC Vol 1, No 1 (2019): Agustus 2019 ]]>
Publisher : <![CDATA[Sekolah Tinggi Teknologi Adisutjipto ]]>
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DOI: 10.28989/avitec.v1i1.489
<![CDATA[Movement of objects from one position to another position is usually by conventional method of human strength. Development of robotics technology makes movement of objects in the industry by arm robot system. By using arm robot system, the work more effective. The aim of this reaserch is to modeling 3 Degree of Freedom arm robot with kinematics method using V-REP software. Kinematics method is a subject that analyze robot movement without knowing the force that causes the movement. This research use the forward kinematics method so that arm robot can reach the goals. The input from this robot is an angle which is computed using the forward kinematics method. The output is an end-effector coordinate. Based on the result of the research, the 3 Degree of Freedom arm robot is capable to move the object from one position to another position and an error that occurs can achieve 4,99% for x coordinate, 5,57% for y coordinate, and 3,18% for z coordinate. Based on these results, the 3 Degree of Freedom arm robot with the forward kinematics method can be simulated in V-REP software effectively.]]>
<![CDATA[Sistem Navigasi Quadrotor Berbasis IMU dengan Kalman Filter Tuning ]]>
<![CDATA[Lasmadi, Lasmadi]]>
<![CDATA[ ELKHA : Jurnal Teknik Elektro Vol. 11 No. 1, April 2019 ]]>
Publisher : <![CDATA[Faculty of Engineering, Universitas Tanjungpura ]]>
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DOI: 10.26418/elkha.v11i1.30502
<![CDATA[The navigation system on quadrotor is important to maintain stability and determine its own position when flying autonomously. The GPS can provide the position measurement, but it has limitations in the specific environments and cannot provide the orientation information. This study aims to design the navigation system for quadrotor based on IMU sensor with Kalman filters using the state space model. The system model was developed using Matlab software. Kalman filter is designed to estimate the navigation data and eliminate noise on the sensor so that it can improve the measurement accuracy. The test results showed that the system model can provide orientation estimation and translation estimation of the quadrotor, while the Kalman filter model is acceptable to reduce noise on the sensor's raw data. When tested indoors, the system can provide the measurement accuracy above 90%.]]>
<![CDATA[Estimasi sudut orientasi rigid body dengan menggunakan sensor IMU (Inertial Measurement Unit) dan Magnetometer ]]>
<![CDATA[Sandi, Briyan Yoga]]>;
<![CDATA[Kurniawan, Freddy]]>;
<![CDATA[Lasmadi, Lasmadi]]>
<![CDATA[ SENATIK STT Adisutjipto Vol 6 (2020): Keselamatan Penerbangan di masa Pandemi Covid-19 [ISBN 978-602-52742-2-0] ]]>
Publisher : <![CDATA[Institut Teknologi Dirgantara Adisutjipto ]]>
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DOI: 10.28989/senatik.v6i0.425
<![CDATA[One of the instruments that can be used today for navigation is the IMU (Inertial Measurement Unit) sensor which consists of an accelerometer sensor, gyroscope, and an additional magnetometer. The three sensors are useful for determining the orientation angle. However, the presence of high enough noise in the three-output data can cause the orientation angle to be inaccurate. This study aims to determine the roll, pitch and yaw orientation more accurately using a Kalman filter. This filter is used because it has a lightweight computation and can reduce noise significantly. The results of this study show that the orientation angle calculated using the Kalman filter is close to the actual orientation angle with an accuracy of 99.2% for roll, 99.5% for pitch, and 98.6% for yaw.]]>
<![CDATA[Inertial Navigation for Quadrotor Using Kalman Filter with Drift Compensation ]]>
<![CDATA[Lasmadi Lasmadi]]>;
<![CDATA[Adha Imam Cahyadi]]>;
<![CDATA[Samiadji Herdjunanto]]>;
<![CDATA[Risanuri Hidayat]]>
<![CDATA[ International Journal of Electrical and Computer Engineering (IJECE) Vol 7, No 5: October 2017 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijece.v7i5.pp2596-2604
<![CDATA[The main disadvantage of an Inertial Navigation System is a low accuracy due to noise, bias, and drift error in the inertial sensor. This research aims to develop the accelerometer and gyroscope sensor for quadrotor navigation system, bias compensation, and Zero Velocity Compensation (ZVC). Kalman Filter is designed to reduce the noise on the sensor while bias compensation and ZVC are designed to eliminate the bias and drift error in the sensor data. Test results showed the Kalman Filter design is acceptable to reduce the noise in the sensor data. Moreover, the bias compensation and ZVC can reduce the drift error due to integration process as well as improve the position estimation accuracy of the quadrotor. At the time of testing, the system provided the accuracy above 90 % when it tested indoor.]]>
<![CDATA[Estimasi Sudut Rotasi Benda Kaku Berbasis IMU Menggunakan Kalman Filter ]]>
<![CDATA[Lasmadi Lasmadi]]>;
<![CDATA[Freddy Kurniawan]]>;
<![CDATA[Muhammad Irfan Pamungkas]]>
<![CDATA[ Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC) Vol 3, No 1 (2021): February ]]>
Publisher : <![CDATA[Institut Teknologi Dirgantara Adisutjipto ]]>
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DOI: 10.28989/avitec.v3i1.909
<![CDATA[Rotation angle estimates are often required and applied to the dynamics of spacecraft, UAVs, robots, underwater vehicles, and other systems before control. IMU is an electronic module that is used as an angle estimation tool but has noise that can reduce the accuracy of the estimation. This study aims to develop an estimation model for the angle of rotation of a rigid body based on the IMU-gyroscope sensor on a smartphone using a Kalman filter. The estimation model is developed in a simple dynamic equation of motion in state-space. Kalman filters are designed based on system dynamics models to reduce noise in sensor data and improve measurement estimation results. Simulations are carried out with software to investigate the accuracy of the developed estimation algorithm. Experiments were carried out on several smartphone rotations during the roll, pitch, and yaw. Then, the experimental data obtained is analyzed for accuracy by comparing the built-in algorithms on smartphones. Based on the experimental results, the accuracy rate of estimation angle is 94% before going through the Kalman filter and an accuracy level of above 98% after going through the Kalman filter for every rotation on the x-axis, y-axis, and z-axis.]]>
<![CDATA[Pemodelan dan Simulasi Robot Lengan 3 DOF Menggunakan V-REP ]]>
<![CDATA[AZ Uchrowi]]>;
<![CDATA[Lasmadi Lasmadi]]>;
<![CDATA[Sutjianto Soekarno]]>
<![CDATA[ Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC) Vol 1, No 1 (2019): August ]]>
Publisher : <![CDATA[Institut Teknologi Dirgantara Adisutjipto ]]>
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DOI: 10.28989/avitec.v1i1.489
<![CDATA[Movement of objects from one position to another position is usually by conventional method of human strength. Development of robotics technology makes movement of objects in the industry by arm robot system. By using arm robot system, the work more effective. The aim of this reaserch is to modeling 3 Degree of Freedom arm robot with kinematics method using V-REP software. Kinematics method is a subject that analyze robot movement without knowing the force that causes the movement. This research use the forward kinematics method so that arm robot can reach the goals. The input from this robot is an angle which is computed using the forward kinematics method. The output is an end-effector coordinate. Based on the result of the research, the 3 Degree of Freedom arm robot is capable to move the object from one position to another position and an error that occurs can achieve 4,99% for x coordinate, 5,57% for y coordinate, and 3,18% for z coordinate. Based on these results, the 3 Degree of Freedom arm robot with the forward kinematics method can be simulated in V-REP software effectively.]]>
<![CDATA[Kalman Filter untuk Mengurangi Derau Sensor Accelerometer pada IMU Guna Estimasi Jarak ]]>
<![CDATA[Muhammad Ari Roma Wicaksono]]>;
<![CDATA[Freddy Kurniawan]]>;
<![CDATA[Lasmadi Lasmadi]]>
<![CDATA[ Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC) Vol 2, No 2 (2020): August ]]>
Publisher : <![CDATA[Institut Teknologi Dirgantara Adisutjipto ]]>
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DOI: 10.28989/avitec.v2i2.752
<![CDATA[This study aims to develop a Kalman filter algorithm in order to reduce the accelerometer sensor noise as effectively as possible. The accelerometer sensor is one part of the Inertial Measurement Unit (IMU) used to find the displacement distance of an object. The method used is modeling the system to model the accelerometer system to form mathematical equations. Then the state space method is used to change the system modeling to the form of matrix operations so that the process of the data calculating to the Kalman Filter algorithm is not too difficult. It also uses the threshold algorithm to detect the sensor's condition at rest. The present study had good results, which of the four experiments obtained with an average accuracy of 93%. The threshold algorithm successfully reduces measurement errors when the sensor is at rest or static so that the measurement results more accurate. The developed algorithm can also detect the sensor to move forward or backward.]]>
<![CDATA[Pengaruh Penggunaan Perturb & Observe pada MPPT terhadap Daya Keluaran Sel Surya ]]>
<![CDATA[Ernando Rizki Dalimunthe]]>;
<![CDATA[Freddy Kurniawan]]>;
<![CDATA[Lasmadi Lasmadi]]>
<![CDATA[ Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC) Vol 1, No 1 (2019): August ]]>
Publisher : <![CDATA[Institut Teknologi Dirgantara Adisutjipto ]]>
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DOI: 10.28989/avitec.v1i1.483
<![CDATA[Optimizing the output power value of a solar cell requires a tracker. The tracking is called the maximum power point tracking (MPPT) which will produce a maximum output power value. Each component in this system is modeled into Simulink. This simulation is designed to optimize the work of solar cells by searching maximum power points using perturb and observe (P&O) algorithms, then duty cycles are output of the algorithms become Buck-Boost Converter inputs as switching so they can produce output power with better output power. Simulation results show that MPPT can increase the average output power on changes in the value of sun irradiation, temperature and load than systems that do not use MPPT. The factor of the average difference in power is 37.82%.]]>
