PURWARUPA SISTEM KESTABILAN PESAWAT TANPA AWAK MENGGUNAKAN ALGORITMA FUSION SENSOR KALMAN FILTER DAN SISTEM KENDALI PID

One of the important things in a UAV is Flight Control System whicch is used for determining the aircraft�s attitude so it could stay stabile. With a stability system, a UAV could use autopilot system so the function of the UAV can be developed. In this research ADAHRS (Air Data, Attitude, And Heading Reference System) is used for knowing aircraft�s roll, pitch, and speed information. Inputs that used to know the value of roll and pitch are from IMU (inertial measurement unit) that consists of accelerometer and gyroscope. Kalman filter sensor fusion sensor algorithm is used to combine datas from accelerometer and gyroscope and produce an accurate angle output. In order to get a better stability system than the previous research, this system use PID control system. The tuning method of PID control system that used in this research is using Ziegler Nichols method. Microcontroller that is used to process kalman filter algorithm and PID control system is Arduino Due. The result of this research is a UAV stability system using kalman filter fusion sensor algorithm and PID control system. From the test that has been run, it turns out that the best combination of control system either for aileron and elevator is proportional derivative (PD) control. It gets Kp=0,6 Td=0,0625 for aileron, and Kp=1,2 , Td=0,0625 for elevator