Estimasi Jarak pada Sistem Koordinat Berbasis Metode Haversine menggunakan Tapis Kalman

BUDI SETIADI, RIDWAN SOLIHIN, TATA SUPRIYADI, TOTO TOHIR, SUDRAJAT SUDRAJAT

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ABSTRAK

Kesalahan GPS (Global Positioning System) dalam menentukan titik koordinat dipengaruhi faktor terhalang oleh bangunan, kondisi cuaca, dan hal lain yang dapat mengurangi akurasi dari GPS. Penelitian ini, digunakan tapis Kalman untuk meminimalisir kesalahan pada alat GPS tipe BN-220 ketika menentukan jarak. Tapis Kalman dirancang dengan dua tahapan yaitu proses prediksi dan koreksi. Pada tahap prediksi, data mentah dari koordinat akan diihitung varian kesalahannya dengan mengatur matriks Q. Kemudian, pada tahap koreksi dilakukan perbaikan dengan menentukan penguatan Kalman berdasarkan matriks R dan hasilnya digunakan untuk mengestimasi data keluaran. Berdasarkan pengujian pada delapan titik uji, diperoleh bahwa penggunaan tapis Kalman menghasilkan rata-rata selisih kesalahan sekitar 5,27% terhadap Google Maps jika dibandingkan dengan tanpa tapis Kalman sebesar 7,56%.

Kata kunci: GPS BN-220, tapis Kalman, Haversine, Google Maps

 

ABSTRACT

GPS (Global Positioning System) error in determining the coordinates is influenced by factors obstructed by buildings, weather conditions, and other things that can reduce the accuracy of GPS. In this study, the Kalman filter was used to minimize errors in the BN-220 type GPS device when determining the distance. Kalman filter is designed with two stages, namely the prediction and correction process. In the prediction stage, the raw data from the coordinates will be calculated for the error variance by adjusting the Q matrix. Then, in the correction stage, improvements are made by determining the Kalman gain based on the R matrix and the results are used to estimate the output data. Based on testing at eight test points, it was found that the use of the Kalman filter resulted in an average error difference of around 5.27% against Google Maps when compared to without the Kalman filter of 7.56%.

Keywords: GPS BN-220, Kalman filter, Haversine, Google Maps


Kata Kunci


GPS BN-220; tapis Kalman; Haversine; Google Mapss

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Referensi


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DOI: https://doi.org/10.26760/elkomika.v11i1.207

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