PENDETEKSI SUDUT MENGGUNAKAN SENSOR GYRODCOPE

Abstract

Recently, determining the exact position and orientation in a technical system has an important role, especially in terms of control on a navigation system. One of the instruments used in navigation systems is the Inertial Measurement Unit (IMU). The IMU consists of a combination of the acceleration sensor (accelerometer) and the angular sensor (gyroscope) to track movement of an object. Gyroscope is one of the sensors that have progressed and widely applied to measure the angular velocity and angle. For further applications, these sensors are widely used for navigational purposes. In this final project the design of instrumentation gyroscope as one component of the IMU to detect the angle with 3 degrees of freedom The data in the form of angles can be obtained from the integral of the angular velocity from gyroscope output. This system Instrumentation consists of a gyroscope sensor, microcontroller ATMega8535 as the main processing unit, and the computer will display the output data by using Visual C #. Test results showed that the gyroscope output signal consists of signal information and noise, so it necessary to be known of actual output value to obtain the angle accurately. The best results independently for testing angles to the roll axis with the average MSE of 0.53575 degrees, the pitch axis with an average MSE of 0.4065 degrees, and the yaw axis with an average MSE of 0.1415 degrees . Keywords : Gyroscope, Microcontroller ATmega8535, Angular velocity, Angle.