Penentuan Orientasi dan Translasi Gerakan UAV menggunakan Data Fusion berbasis Kalman Filter

In an unmanned aircraft vehicle, a navigation system is needed to calculate its orientation and translation. The can utilize data from the accelerometer, gyroscope, magnetometer, GPS. be precisely calculated accelerometer magnetometer when sensor in static state. Meanwhile, under dynamic conditions, more gyroscope data. order obtain robust system, fusion based on Kalman filter built magnetometer. trusts UAV conditions. translation obtained by performing of with location GPS sensor. combines available, otherwise only. trust level shifting done changing measurement noise covariance. provides accurately as result calculation has average error 18.12%, while 1.3%. By using filter-based fusion, decreases 0.87%