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All Journal ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika JTERA (Jurnal Teknologi Rekayasa) Jurnal Rekayasa Hijau REKA ELKOMIKA: Jurnal Pengabdian kepada Masyarakat Eksergi: Jurnal Teknik Energi Industrial Research Workshop and National Seminar
Sudrajat Sudrajat
Jurusan Teknik Elektro, Politeknik Negeri Bandung, Indonesia
Agriculture, Biological Sciences & Forestry Humanities Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Earth & Planetary Sciences Education Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Mechanical Engineering Other

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Journal : ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi,

 1 
Estimasi Jarak pada Sistem Koordinat Berbasis Metode Haversine menggunakan Tapis Kalman BUDI SETIADI; RIDWAN SOLIHIN; TATA SUPRIYADI; TOTO TOHIR; SUDRAJAT SUDRAJAT
Jurnal Elkomika Vol 11, No 1 (2023): ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektr
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v11i1.207

Abstract

ABSTRAKKesalahan GPS (Global Positioning System) dalam menentukan titik koordinat dipengaruhi faktor terhalang oleh bangunan, kondisi cuaca, dan hal lain yang dapat mengurangi akurasi dari GPS. Penelitian ini, digunakan tapis Kalman untuk meminimalisir kesalahan pada alat GPS tipe BN-220 ketika menentukan jarak. Tapis Kalman dirancang dengan dua tahapan yaitu proses prediksi dan koreksi. Pada tahap prediksi, data mentah dari koordinat akan diihitung varian kesalahannya dengan mengatur matriks Q. Kemudian, pada tahap koreksi dilakukan perbaikan dengan menentukan penguatan Kalman berdasarkan matriks R dan hasilnya digunakan untuk mengestimasi data keluaran. Berdasarkan pengujian pada delapan titik uji, diperoleh bahwa penggunaan tapis Kalman menghasilkan rata-rata selisih kesalahan sekitar 5,27% terhadap Google Maps jika dibandingkan dengan tanpa tapis Kalman sebesar 7,56%.Kata kunci: GPS BN-220, tapis Kalman, Haversine, Google Maps ABSTRACTGPS (Global Positioning System) error in determining the coordinates is influenced by factors obstructed by buildings, weather conditions, and other things that can reduce the accuracy of GPS. In this study, the Kalman filter was used to minimize errors in the BN-220 type GPS device when determining the distance. Kalman filter is designed with two stages, namely the prediction and correction process. In the prediction stage, the raw data from the coordinates will be calculated for the error variance by adjusting the Q matrix. Then, in the correction stage, improvements are made by determining the Kalman gain based on the R matrix and the results are used to estimate the output data. Based on testing at eight test points, it was found that the use of the Kalman filter resulted in an average error difference of around 5.27% against Google Maps when compared to without the Kalman filter of 7.56%.Keywords: GPS BN-220, Kalman filter, Haversine, Google Maps
Co-Authors Ary Aulia Baisrum Baisrum Budi Setiadi Endang Habinuddin Fahira Azizah Fryma Zhafran Raihan Fryma Zhafran Raihan Hari Purnama Hilmi Dhiya Ulhaq Luthfi Nur Fadhillah Moch Firdan Fescara Ridwan Solihin Sarjono Wahyu Jadmiko Sarjono Wahyu Jadmiko Siswoyo Siswoyo Sofian Yahya Sunarto Sunarto Supriyanto Suhono T B Utomo Tata Supriyadi Toto Tohir Varian Andika Wijayakusuma Varian Andika Wijayakusuma Yoseph Santosa Yudi Prana Hikmat