PERANCANGAN SISTEM ESTIMASI POSISI QUADCOPTER BERBASIS IMU PIXHAWK 2.4.8 PADA LINGKUNGAN TANPA GLOBAL POSITIONING SYSTEM

Quadcopter is an unmanned aircraft or Unmanned Aerial Vehicle (UAV) which can also be called a drone. Quadcopters are usually controlled manually or autonomously. The autonomous quadcopter system requires a position from the Global Positioning System (GPS) to be able to navigate. However, there are limitations in the environment that the Global Positioning System (GPS) signal cannot reach. These limitations occur when the GPS is in a room that has a thick roof so that the signal received by the GPS is disturbed and the absolute position cannot be determined. Therefore, this study offers the design of a Quadcopter position estimation system based on the Inertial Measurement Unit or IMU Pixhawk 2.4.8 in an environment without GPS. The IMU Pixhawk 2.4.8 is paired with additional components, specifically Optical Flow (OF) and LIDAR to get better position estimation data. This study focuses on estimating the forward position and uses simple linear regression to reduce errors in the data. The results of this study using simple linear regression the position estimation error can be reduced from an average of (-)63% to 23% or reduced by 40%. In addition, the lowest error can reach 9%.