Study on the Application of Microcontroller-Based GPS Sensors on Floater Gliders to Reach the Specified Destination

Abstract The purpose of the study is to determine performance control system floater glider a predetermined location. method used was combination between software simulation and an experimental free-running test. Floater equipped with GPS as input output sensors coordinates or waypoints. microcontroller mounted Pixhawk 2.4.8 based on ARM cortex M4 – 32 bits. driven by two Brushless DC motors servo drive Z-Peller steering desired trajectory. applies default application from Pixhawk, namely mission planner plan also monitor actual To have proper procedure for testing designed system, three stages test were conducted, firstly numerical tuning using step function MATLAB simulation, then trajectory waypoint planner, finally field in ILH pond. From test, it found that selection PID gain values Kp = 0.2, Ki 0.3, Kd 0.02, indicating planned location has good fit results These can be reference conducting further research so navigation accuracy will improved.