Tracking Object based on GPS and IMU Sensor

Abstract

Sensor Wahyudi Meita Sukma Listiyana Sudjadi Ngatelan Department of Electrical Engineering Diponegoro University Semarang, Indonesia wahyuditinom@elektro.undip.ac.id Abstract— Unmanned vehicles required a tracking system to monitor the movement of the object. Tracking system required because the object is controlled remotely and the movement of an object is too far from an operator. This tracking system requires object location and attitude. Global Positioning System (GPS) and Inertial Measurement Unit (IMU) sensor can be used to obtain information about object location and attitude. This IMU consists of some sensors, i.e. accelerometer, gyroscope, and magnetometer. In IMU system, angle data from gyroscope and accelerometer sensor must be combined using a complementary filter because each sensor data still has a noise signal. This paper discusses tracking object using GPS and IMU sensor and then processed by the microcontroller to display in Personal Computer (PC). Object tracking system that designed works well. The result of testing, the average of error for GPS and IMU system, respectively, are 2.67 m and 0.96o.