Rancang Bangun Kontroller Virtual Reality dengan Magnetometer Akselerometer Giroskop (MARG) dan Filter Madgwick

Rachmad Sudibyo Danu Saputro, Melania Suweni Muntini, Iim Fatimah
Submission Date: 2017-01-26 11:44:44
Accepted Date: 2017-03-17 10:28:10

Abstract


Pada tugas akhir ini telah dibuat dan dianalisa kontroller Virtual Reality berbasis sensor magnetometer HMC5883L, akselerometer beserta giroskop MPU6050, dan mikrokontroller Arduino ATMEGA328. Keluaran dari sistem berupa nilai orientasi sudut putar yaw, pitch dan roll, kemudian diberikan variasi konstanta β untuk mengetahui pengaruhnya terhadap nilai keluaran.. Pengujian sistem dilakukan pada keadaan statis dan dinamis. Dari hasil pengujian semakin besar nilai konstanta β, semakin cepat waktu untuk mencapai keadaan steady-state. Nilai optimum dari variasi konstanta β yang diberikan adalah 0.05 dikarenakan memiliki Root Mean Square Error yang terkecil diantara variasi lainnya.


Keywords


Filter Madgwick; Virtual Reality; MARG

References


Sebastian O. H. Madgwick. An efficient filter for inertial and inertial/magnetic sensor arrays.2010. IEEE ICORR, June 2011, pp. 1-7.

J. B. Kuipers. Quaternions and Rotation Sequences: A primer with Applications to Orbits, Aerospace and Virtual Reality. Princeton University Press, 1999.


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