Sistem Navigasi Quadrotor Berbasis IMU dengan Kalman Filter

Abstract

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%.