Perubahan kualitas lingkungan danau akibat aktivitas manusia menuntut solusi pemantauan yang efisien dan berkelanjutan. Penelitian ini merancang sistem pemandu navigasi untuk Solar Autonomous Boat yang beroperasi secara mandiri menggunakan energi surya dan didukung teknologi swarm untuk kerja sama antar kapal. Sistem ini mengandalkan GPS ATGM336H dan sensor kompas digital GY-271 sebagai penentu posisi dan arah hadap, dikendalikan oleh mikrokontroler TTGO ESP32 LoRa. Data navigasi diproses secara real-time dan dikirim melalui jaringan LoRa ke gateway pusat atau antar kapal. Proses pengembangan meliputi perancangan perangkat keras dan lunak, integrasi sistem navigasi, serta pengujian terhadap jalur waypoint dan koreksi arah otomatis berdasarkan heading error. Hasil pengujian menunjukkan bahwa kapal mampu mengikuti arah tujuan dengan akurasi sebesar 92%, di mana sebagian besar lintasan berada dalam toleransi arah yang telah diprogram. Rata-rata kesalahan arah tercatat sebesar 5,4 derajat, masih dalam batas toleransi yang dapat diterima. Sistem mampu menjaga heading secara stabil serta merespons kondisi lingkungan perairan secara adaptif. Penerapan teknologi swarm meningkatkan efisiensi pemantauan, sementara pemanfaatan energi surya mendukung operasi ramah lingkungan. Sistem ini dinilai berhasil sebagai solusi navigasi otonom yang cerdas dan berkelanjutan.
Kata Kunci: Solar Autonomous Boat, Sistem Navigasi, GPS, Kompas Digital, LoRa, Swarm.

Changes in the quality of the lake environment due to human activities demand efficient and sustainable monitoring solutions. This research designed a navigation guidance system for the Solar Autonomous Boat that operates independently using solar energy and supported by swarm technology for cooperation between ships. The system relies on GPS ATGM336H and GY-271 digital compass sensor as positioning and direction determinants, controlled by a TTGO ESP32 LoRa microcontroller. Navigation data is processed in real-time and sent over the LoRa network to a central or intership gateway. The development process includes hardware and software design, navigation system integration, as well as testing of waypoint paths and automatic direction correction based on heading errors. The test results showed that the ship was able to follow the direction of the destination with an accuracy of 92%, where most of the trajectory was within the pre-programmed directional tolerance. The average direction error was recorded at 5.4 degrees, still within acceptable tolerance limits. The system is able to maintain a stable heading and respond to aquatic environmental conditions adaptively. The application of swarm technology improves monitoring efficiency, while the utilization of solar energy supports environmentally friendly operations. This system is considered successful as an intelligent and sustainable autonomous navigation solution.
Keywords: Solar Autonomous Boat, Navigation System, GPS, Digital Compass, LoRa, Swarm.