SISTEM PEMETAAN PADA UNMANNED GROUND VEHICLE MENGGUNAKAN GLOBAL POSITIONING SYSTEM (GPS) BERBASIS EXTENDED KALMAN FILTER

GUSTIO, REKSI ANDIKA and Hikmarika, Hera (2020) SISTEM PEMETAAN PADA UNMANNED GROUND VEHICLE MENGGUNAKAN GLOBAL POSITIONING SYSTEM (GPS) BERBASIS EXTENDED KALMAN FILTER. Undergraduate thesis, Sriwijaya University.

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Abstract

In the operation of the Unmanned Ground Vehicle (UGV), it is necessary to monitor where the direction of this vehicle is going, but if you supervise the UGV on the spot at any time until completing its task it will waste time. With the installation of a mapping system using GPS to automatically save the position where the vehicle is at any time without having to spend time monitoring the movement of the UGV. To display the position where the object is, the coordinate data needs to be processed with the Kalman Filter method, one of which is the Extended Kalman Filter. In this research, the Extended Kalman Filter method is used to map the position of the object and reduce the noise that comes from GPS data and then the mapping results are displayed graphically. Mapping results using the Extended Kalman Filter method obtained good results with an average difference in the distance between GPS data and coordinate data that has been filtered as far as 0.646 meters and 0.993 meters for data affected by noise, which means that this method can reduce noise and maintain the coordinate position of GPS data.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Filter Kalman, Extended Kalman Filter, Sistem Pemetaan, UGV, GPS
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7885-7895 Computer engineering. Computer hardware
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Users 9973 not found.
Date Deposited:	18 Jan 2021 07:03
Last Modified:	18 Jan 2021 07:03
URI:	http://repository.unsri.ac.id/id/eprint/40367

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