PRATAMA, DANVIERO YUZWAN (2016) IMPLEMENTASI SISTEM REFERENSI ATTITUDE DAN HEADING PADA SISTEM NAVIGASI KENDARAAN. S1 thesis, UNIVERSITAS SULTAN AGENG TIRTAYASA.

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Abstract

Autonomous land vehicles require navigation information such as orientation, position and trajectory of the vehicle. One of the devices that can provide navigation information is AHRS (Attitude and Heading Reference System) equipped with strapdown inertial algorithm. The aims of this research is to reduce the error AHRS on land vehicles and improve the accuracy of system using a a Kalman filter. Test performed on the stationary navigation systems and low- dynamic navigation of two-dimensional using Kalman filter with 6 states, 11 states, and 14 states. The experimental results in this study yield, the difference of mean value between the estimated Kalman filter with position on GPS coordinates is 0,00001165 (1,165 m) on latitude, 0,00001293 (1,29 m) on longitude dan 0,01 m on altitude. Meanwhile, the difference of mean value between INS calculation with Kalman filter is 0,0204545 (2,04545 km) on latitude, 0,0152073 (1,52073 km) on longitude, dan 0,003 m on altitude. GPS mapping result in low dynamics simulations of two-dimensional navigation show that, the trajectory estimation using 11 state Kalman filter is approaching the GPS coordinates. The difference of mean value between the estimates of the Kalman filter with GPS position is smaller than the difference of mean value between the results of the INS with GPS positioning. Key word: AHRS, Kalman Filter, Inertial Navigation System, Strapdown

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