Algoritma Penentuan Jarak dengan Sensor IMU Accelerometer

An Inertial Measurement Unit (MUI) is the main component of inertial guidance systems used in aircraft, spacecraft, and watercraft, including guided missiles. An IMU works by sensing motion, including the rate and direction of the motion, using a combination of accelerometers and gyroscopes. The signal obtained from these sensors does require processing as there is no direct conversion between acceleration and position. In order to obtain position a double integral of acceleration must be applied to the signal. calibration is performed on the accelerometer when there is no movement condition. When a no movement condition presents, minor errors in acceleration could be encountered, the ideal case for a no movement condition is all the samples to be zero. Even with the previous filtering some data can be erroneous, so a window of discrimination between valid data and invalid data for the no movement condition must be implemented. This paper presents four algorithm to estimate the object position based on the double integration of acceleration data, while the offset adjustment for eliminating error and no movement state determination are performed. The First algorithm has smallest error, 2.8641%