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All Journal International Journal of Electrical and Computer Engineering Mechatronics, Electrical Power, and Vehicular Technology ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Techne : Jurnal Ilmiah Elektroteknika J-Dinamika: Jurnal Pengabdian Kepada Masyarakat SinarFe7 Jurnal Rekayasa elektrika
Bambang Sumantri
Politeknik Elektronika Negeri Surabaya
Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Energy Engineering

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Journal : Mechatronics, Electrical Power, and Vehicular Technology

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Local positioning system for autonomous vertical take-off and landing using ultra-wide band measurement ranging system Niam Tamami; Bambang Sumantri; Prima Kristalina
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 12, No 1 (2021)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2021.v12.18-27

Abstract

An autonomous vertical take-off and landing (VTOL) must be supported with an accurate positioning system, especially for autonomous take-off, landing, and other tasks in small area. This paper presents a novel method of small local outdoor positioning system for localizing the area of dropping and landing of autonomous VTOL by utilizing the low-cost precision ultra-wide band (UWB) ranging system. We compared symmetrical single sided-two way ranging (SSS-TWR), symmetrical double sided-two way ranging (SDS-TWR), and asymmetrical double sided-two way ranging (ADS-TWR) methods to get precision ranging measurement on UWB radio module. ADS-TWR was superior to others by resulting in minimum distance error. The ADS-TWR average error was 1.38 % (35.88 cm), SDS-TWR average error was 1.83 % (47.58 cm), and SSS-TWR average error was 2.73 % (70.98 cm). Furthermore, the trilateration method was utilized to obtain the local position of the autonomous VTOL. The trilateration method successfully implemented autonomous VTOL quadcopter positioning in a small local outdoor area (20 m x 30 m). Autonomous VTOL has been able to drop seven payloads in seven areas (2 m x 2 m) and landed in the home position (3 m x 3 m) successfully.
Co-Authors ABDILLAH AZIZ MUNTASHIR ACHMAD AFANDI Agus Indra Gunawan Akhmad Puryanto Ali Husein Alasiry Amang Sudarsono, Amang Ardik Wijayanto Bima Sena Bayu Dewantara Dadet Pramadihanto Eka Prasetyono, Eka Eko Henfri Binugroho Endra Pitowarno Era Purwanto Evi Nafiatus Sholikhah Ferdiansyah, Indra GAMAR BASUKI Habibi, Muhammad Nizar HANIF HASYIER FAKHRUDDIN Hary Oktavianto Hazlie Mokhlis Ibrahim Muhammad Diin Idris Winarno Ilham Mandala Putra Jati, Mentari Putri Kadek Reda Setiawan Suda MOCHAMAD ARI BAGUS NUGROHO Mohammad Zaenal Efendi Muhammad Faiz Muhammad Farizky Alvianandy Muhammad Furqon NI PUTU DEVIRA AYU MARTINI Niam Tamami Novian Fajar Satria Novie Ayub Windarko Prima Kristalina R. Oktav Yama Hendra Rachma Prilian Eviningsih Rika Rokhana Risma Dian Alamri Wahjoe Tjatur Sesulihatien