scholarly journals PEMETAAN 3 DIMENSI UNTUK MENENTUKAN JALUR EVAKUASI ALTERNATIF PADA SMART ROBOT RESCUE

2019 ◽  
Vol 9 (2) ◽  
pp. 128
Author(s):  
Rodik Wahyu Indrawan ◽  
Indra Adji Sulistijono ◽  
Achmad Basuki
Keyword(s):  
Global Positioning System ◽  
Search And Rescue ◽  
Measurement Unit ◽  
Ground Control ◽  
Positioning System ◽  
Motion Model ◽  
Fusion Data ◽  
Global Positioning ◽  
Ground Control Station ◽  
Flood Fill

Penanganan evakuasi pasca bencana sangat membahayakan bagi korban maupun tim penyelamat yang akan melakukan evakuasi, khususnya area di dalam ruangan, ini disebabkan karena area yang belum terpetakan. Pada penelitian ini kami mengaplikasikan robot rescue untuk melakukan surve pada daerah pasca bencana, khususnya area di dalam ruangan (indoor area), Robot didesain dengan mekanik yang memungkinkan untuk melewati medan pasca bencana, sensor posisi yang diproses menggunakan metode odometry untuk melakukan rekam data pergerakan yaitu posisi dan orientasi dari robot, sensor observasi yang di proses dengan Kalman filter untuk melakukan deteksi lingkungan area robot pada saat melakukan navigasi, data sensor dan aktuator pada robot akan diproses lebih lanjut oleh GCS (Ground Control Station) untuk menghasilkan informasi berupa peta atau denah area (indoor) dan jalur evakusi alternatif dengan metode Flood Fill. Hasil penelitian menunjukkan bahwa, sistem navigasi menggunakan odometry pada area pasca bencana menghasilkan rekam posisi dan diperlukan perbaikan data posisi dan orientasi dengan menambahkan sensor absolute (menggunkan lokal GPS Global Positioning System atau IMU Intertial Measurement Unit). Fusion data motion model dan observation model menghasilkan pemetaan 3 dimensi dari area navigasi robot dan informasi jalur terpendek antara posisi victim dengan pintu emergencyyang terdekat, sehingga data peta dan jalur memungkinkan tim SAR (Search And Rescue) untuk lebih efektif dalam melakukan evakuasi terhadap korban pasca bencana pada area di dalam ruangan.

scholarly journals PERANCANGAN ALAT PENGGERAK ANTENA MENGGUNAKAN METODE KONTROL PROPORTIONAL, INTEGRAL, DERIVATIVE (PID) UNTUK MELACAK OBJEK BERGERAK

Transmisi ◽  
2018 ◽  
Vol 20 (2) ◽  
pp. 71
Author(s):  
Bagus Bernadi Saputra ◽  
Wahyudi Wahyudi ◽  
Sudjadi Sudjadi
Keyword(s):  
Global Positioning System ◽  
Mean Absolute Error ◽  
Absolute Error ◽  
Base Station ◽  
Ground Control ◽  
Positioning System ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Global Positioning ◽  
Aerial Vehicle

Base station atau Ground Control Station (GCS) umumnya menggunakan antena directional untuk dapat berkomunikasi dengan objek bergerak seperti roket dan Unmanned Aerial Vehicle (UAV). Antena directional memiliki jarak jangkau yang jauh, namun memiliki sudut pancar yang sempit. Untuk mengatasi kekurangan dari antena directional, diperlukan alat yang dapat menggerakkan antena ke arah objek bergerak secara nyata pada kisaran sudut azimut dan elevasi. Pada penelitian ini, dirancang alat penggerak antena menggunakan metode kontrol Proportional, Integral, dan Derivative (PID) untuk melacak objek bergerak berbasis Global Positioning System (GPS) dan sensor barometer. Dari hasil perancangan dengan menggunakan nilai parameter PID yang digunakan pada sudut elevasi (Kp=0,03, Ti=150, dan Td=0,22) menghasilkan plant yang mampu mencapai setpoint (74o) dalam waktu 2 detik. Parameter PID yang digunakan pada sudut azimut (Kp=3,5, Ti=100, dan Td=0,09) menghasilkan plant yang mampu mencapai setpoint (180o) dalam waktu 1,1 detik. Dari hasil pengujian, diketahui antena dapat mengikuti objek bergerak (drone) dengan waktu terlama 1 detik pada plant azimut dan 1,5 detik pada plant elevasi. Plant elevasi memiliki Mean Absolute Error (MAE) = 6,54o dan plant azimut memiliki MAE = 8,04o.

An Application of the Global Positioning System to Search and Rescue and Remote Tracking

Navigation ◽  
1977 ◽  
Vol 24 (3) ◽  
pp. 216-228 ◽  
Author(s):  
F. H. RAAB ◽  
G. W. BOARD ◽  
S. D. ARLING ◽  
J. D. DOBBS ◽  
S. C. SMRDEL ◽  
...  
Keyword(s):  
Global Positioning System ◽  
Search And Rescue ◽  
Positioning System ◽  
Global Positioning

scholarly journals HEIGHT ACCURACY BASED ON DIFFERENT RTK GPS METHOD FOR ULTRALIGHT AIRCRAFT IMAGES

2015 ◽  
Vol XL-3/W3 ◽  
pp. 287-292
Author(s):  
K. N. Tahar
Keyword(s):  
Global Positioning System ◽  
Local Network ◽  
Ground Control ◽  
Positioning System ◽  
Control Points ◽  
Ground Control Points ◽  
Global Positioning ◽  
Time Correction ◽  
Rtk Gps ◽  
Gps Station

Height accuracy is one of the important elements in surveying work especially for control point’s establishment which requires an accurate measurement. There are many methods can be used to acquire height value such as tacheometry, leveling and Global Positioning System (GPS). This study has investigated the effect on height accuracy based on different observations which are single based and network based GPS methods. The GPS network is acquired from the local network namely Iskandar network. This network has been setup to provide real-time correction data to rover GPS station while the single network is based on the known GPS station. Nine ground control points were established evenly at the study area. Each ground control points were observed about two and ten minutes. It was found that, the height accuracy give the different result for each observation.

Cartesian Control for the Inertial Measurement Unit Calibration Platform

2000 ◽  
Author(s):  
John J. Hall ◽  
Robert L. Williams ◽  
Frank van Graas
Keyword(s):  
Global Positioning System ◽  
Inertial Measurement Unit ◽  
Vertical Motion ◽  
High Accuracy ◽  
Measurement Unit ◽  
Positioning System ◽  
Ohio University ◽  
Inertial Measurement ◽  
Gps Technology ◽  
Global Positioning

Abstract The Department of Mechanical Engineering and the Avionics Engineering Center at Ohio University are developing an electromechanical system for the calibration of an inertial measurement unit (IMU) using global positioning system (GPS) antennas. The GPS antennas and IMU are mounted to a common platform to be oriented in the angular roll, pitch, and yaw motions. Vertical motion is also included to test the systems in a vibrational manner. A four-dof system based on the parallel Carpal Wrist is under development for this task. High-accuracy positioning is not required from the platform since the GPS technology provides absolute positioning for the IMU calibration process.

scholarly journals Win, Draw, or Lose? Global Positioning System-Based Variables’ Effect on the Match Outcome: A Full-Season Study on an Iranian Professional Soccer Team

Sensors ◽  
2021 ◽  
Vol 21 (17) ◽  
pp. 5695
Author(s):  
Hadi Nobari ◽  
Norbert Keshish Banoocy ◽  
Rafael Oliveira ◽  
Jorge Pérez-Gómez
Keyword(s):  
Global Positioning System ◽  
Descriptive Analysis ◽  
Total Duration ◽  
Measurement Unit ◽  
Positioning System ◽  
Warm Up ◽  
Professional Soccer ◽  
Pacing Strategies ◽  
Global Positioning ◽  
Soccer Team

The aim of the study was to determine the between-match and between-halves match variability of various Global Positioning System (GPS) variables and metabolic power average (MPA) in competitions, based on the match results obtained by professional soccer players over a full season. Observations on individual match performance measures were undertaken on thirteen outfield players competing in the Iranian Premier League. The measures selected for analysis included total duration, accelerations in zones (AccZ1, 2, and 3), decelerations in zones (DecZ1, 2, and 3), and MPA collected by the Wearable Inertial Measurement Unit (WIMU). The GPS manufacturer set the thresholds for the variables analyzed as follows: AccZ1 (<2 m.s−2); AccZ2 (2 to 4 m.s−2); AccZ3 (>4 m.s−2); DecZ1 (<−2 m.s−2); DecZ2 (−2 to −4 m.s−2); DecZ3 (>−4 m.s−2). The results revealed significant differences between wins and draws for the duration of the match and draws compared to wins for the first- half duration (p ≤ 0.05; ES = 0.36 [−0.43,1.12]), (p ≤ 0.05; ES = −7.0 [−8.78, −4.78], respectively. There were significant differences on AccZ1 during the first-half between draws and defeats (p ≤ 0.05; ES = −0.43 [−1.32,0.46]), for AccZ3 in the second-half between draws and defeats (p ≤ 0.05; ES = 1.37 [0.48,2.25]). In addition, there were significant differences between wins and draws (p ≤ 0.05; ES = 0.22 [−0.62,1.10]), and wins and defeats for MPA in the first- half (p ≤ 0.05; ES = 0.34 [−0.65,1.22]). MPA showed further differences between draws and defeats in the second- half (p ≤ 0.05; ES = 0.57 [−0.22,1.35]). Descriptive analysis revealed differences between the first and second half for wins in AccZ2 (p = 0.005), DecZ2 (p = 0.029), and MPA (p = 0.048). In addition, draws showed significant differences between the first and second half in duration, AccZ1, AccZ2, and DecZ2 (p = 0.008), (p = 0.017), (p = 0.040), and (p = 0.037) respectively. Defeats showed differences between the first and second half in AccZ1, AccZ3, and MPA (p = 0.001), (p = 0.018), and (p = 0.003) respectively. In summary, the study reveals large variations between the match duration, accelerometer variables, and MPA both within and between matches. Regardless of the match outcome, the first half seems to produce greater outputs. The results should be considered when performing a half-time re-warm-up, as this may be an additional factor influencing the drop in the intensity markers in the second half in conjunction with factors such as fatigue, pacing strategies, and other contextual variables that may influence the results.

An autonomous rice transplanter guided by global positioning system and inertial measurement unit

2009 ◽  
Vol 26 (6-7) ◽  
pp. 537-548 ◽  
Author(s):  
Yoshisada Nagasaka ◽  
Hidefumi Saito ◽  
Katsuhiko Tamaki ◽  
Masahiro Seki ◽  
Kyo Kobayashi ◽  
...  
Keyword(s):  
Global Positioning System ◽  
Inertial Measurement Unit ◽  
Measurement Unit ◽  
Positioning System ◽  
Inertial Measurement ◽  
Global Positioning

scholarly journals Vehicle location measurement method for radio-shadow area through iBeacon message

2018 ◽  
Vol 14 (11) ◽  
pp. 155014771881257
Author(s):  
ChoonSung Nam ◽  
Dong-Ryeol Shin
Keyword(s):  
Global Positioning System ◽  
Inertial Measurement Unit ◽  
Measurement Unit ◽  
Positioning System ◽  
Inertial Measurement ◽  
Location Data ◽  
Shadow Area ◽  
Global Positioning ◽  
Vehicle Location ◽  
Roadside Unit

Information communication technology related vehicle services need to support location and the transmission of communication and traffic information between vehicles, or between vehicles and infrastructure. In particular, the technology for the measurement of the accurate location of a vehicle is dependent on location-determination technology like Global Positioning System, and this technology is very important for vehicle driving and location services. If, however, a vehicle is in a Global Positioning System radio-shadow area, neither a Global Positioning System nor a Differential Global Positioning System can accurately measure the corresponding location because of a high error rate caused by the shadowing intervention. Even an Inertial Measurement Unit could provide inaccurate location data due to sensor drift faults around corners and traffic-road speed dumps. Vehicles, therefore, need an absolute location to prevent the provision of inaccurate vehicle-location data that is due to radio-shadow areas and relational Inertial Measurement Unit positions. To achieve this, we assume that vehicle-to-infrastructure communication is possible between a vehicle and roadside unit in Vehicular Ad hoc Networks. We used iBeacon at the roadside unit and revised its Universally Unique Identifier so that it generates absolute Global Positioning System location data; that is, moving vehicles can receive absolute Global Positioning System data from the roadside unit-based iBeacon. We compared the proposed method with current Global Positioning System and Inertial Measurement Unit systems for the following two cases: one with a radio-shadow area and one without. We proved that the proposed method generates location data that are more accurate than those of the other methods.

scholarly journals Uji Presisi dari Nonholonomic Mobile Robot pada Rancang Bangun Sistem Navigasi

2021 ◽  
Vol 1 (1) ◽  
Author(s):  
Desmas A. Patriawan ◽  
Bagoes P. Natakusuma ◽  
Ahmad Anas Arifin ◽  
Hasan S. Maulana ◽  
Hery Irawan ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Global Positioning System ◽  
Measurement Unit ◽  
Positioning System ◽  
Nonholonomic Mobile Robot ◽  
Global Positioning

Navigasi menjadi bagian yang penting bagi kendaraan. Global positioning system (GPS) merupakan sistem navigasi yang paling banyak digunakan pada kendaraan. Namun dengan akurasi 5-10 meter membuat GPS tidak bisa diaplikasikan dalam bagian sistem kendali pada kendaraan. Penambahan sensor inertia measurement unit (IMU) diharapkan mampu menambahkan akurasi pada Gerakan kendaraan. Kendaran yang digunakan adalah robot beroda dengan sistem nonholonomic. Pada robot ini dipasang Sensor IMU, GPS dan kontroler supaya robot tersebut bisa berputar lalu melaju secara lurus dengan kordinat yang sudah ditentukan. Hasil pengujian didapatkan robot memiliki respon time sebesar 4.1 detik tanpa kontroler dan 2.1 detik dengan kontroler. Akurasi sudut dari 5  menjadi 2 .

scholarly journals UAV ONBOARD GPS IN POSITIONING DETERMINATION

2016 ◽  
Vol XLI-B1 ◽  
pp. 1037-1042
Author(s):  
K. N. Tahar ◽  
S. S. Kamarudin
Keyword(s):  
Coordinate System ◽  
Global Positioning System ◽  
Large Scale ◽  
Control Point ◽  
Critical Issue ◽  
Ground Control ◽  
Positioning System ◽  
Ground Control Points ◽  
Global Positioning ◽  
Point Positioning

The establishment of ground control points is a critical issue in mapping field, especially for large scale mapping. The fast and rapid technique for ground control point’s establishment is very important for small budget projects. UAV onboard GPS has the ability to determine the point positioning. The objective of this research is to assess the accuracy of unmanned aerial vehicle onboard global positioning system in positioning determination. Therefore, this research used UAV onboard GPS as an alternative to determine the point positioning at the selected area. UAV is one of the powerful tools for data acquisition and it is used in many applications all over the world. This research concentrates on the error contributed from the UAV onboard GPS during observation. There are several points that have been used to study the pattern of positioning error. All errors were analyzed in world geodetic system 84- coordinate system, which is the basic coordinate system used by the global positioning system. Based on this research, the result of UAV onboard GPS positioning could be used in ground control point establishment with the specific error. In conclusion, accurate GCP establishment could be achieved using UAV onboard GPS by applying a specific correction based on this research.

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