ABSTRAKSI: Quadcopter merupakan sebuah UAV(Unmanned Aerial Vehicle) multi rotor di bidang teknologi aeromodelling yang memiliki pergerakan bebas di udara menggunakan empat brushless motor. UAV ini dilengkapi sensor gyro dan sensor lain sebagai alat bantu penyetabil terbang pesawat. Quadcopter yang dilengkapi dengan perangkat GPS (Global Positioning System) dapat dimanfaatkan sebagai alat pencarian target berdasarkan koordinat yang telah ditentukan secara autonomous. Oleh karena itu perlu dilakukan integrasi antara pergerakan pesawat dengan sistem perhitungan koordinat GPS, sehingga pesawat dapat bergerak secara aoutonomous menuju koordinat yang dimaksud.
Dalam tugas akhir ini, penulis menganalisis sebuah sistem pergerakan quadcopter dengan perangkat GPS dalam segi akurasi keinggian, akurasi koordinat, CEP (Circular Error Probability), dan 2DRMS (2 Dimension Root Mean Square). Pergerakan tersebut didasari oleh perhitungan latitude dan longitude pada perangkat GPS yang disebut waypoint oleh quadcopter sebagai koordinat tujuan. Untuk mendapatkan data tersebut, digunakan sistem minimum mikrokontroler ATmega2560 sebagai flight controller, ESC (Electronic Speed Controller) sebagai kontrol kecepatan motor serta perangkat pendukung seperti sensor gyro,altimeter dan flash card sebagai logger data.
Sistem autonomous quadcopter dapat mencapai titik koordinat tujuan secara otomatis (mode AUTO) memiliki jalur dengan lintasan lurus dari titik awal. Pada saat mode AUTO, quadcopter melaju dengan kecepatan konstan 3,37 m/s dan kemudian melakukan LOITER pada waypoint tujuan. Saat melakukan mode LOITER (hold position), quadcopter terjadi pergeseran dengan nilai terendah sejauh 5,64 m. Sedangkan untuk estimasi maksimum jarak tempuh quadcopter adalah 2830,8 m dengan mode AUTO dengan baterai li-po 3000mAH.Kata Kunci : GPS, CEP, 2DRMS, autonomous, waypointABSTRACT: Quadcopter was one of UAV (Unmaned Aerial Vehicle) the multi-rotor in the technological surface aeromodelling that had the free movement in air used four brushless the motor. UAV this was equipped by the censor gyro and the other censor as stabilizer flew the aircraft. Quadcopter that was supplemented with GPS (Global Positioning System) equipment could be made use of as the search implement for the target was based on the co-ordinate that was determined in an autonomous manner. Because of that must be carried out by the integration between the movement of the aircraft and the calculation system of the GPS co-ordinate, so as the aircraft could move in an aoutonomous manner headed the co-ordinate that was meant.
In the task of this end, the writer analysed a movement system quadcopter with GPS equipment in the aspect of height accuracy, the co-ordinate accuracy, CEP (Circular Error Probability), and 2DRMS (2 Dimension Root Mean Square) of the aircraft. This movement was provided a basis for by the calculation latitude and longitude to GPS equipment that was mentioned waypoint by the aircraft as the aim co-ordinate. To get this data, was used by the minimal system mikrokontroler ATmega2560 as flight controller, ESC as the control of the speed of the motor as well as supporting equipment like the censor gyro, sonar, and flash card as logger the data.
Quadcopter autonomous systems can achieve the goal point coordinates automatically (AUTO mode) have a path with a straight line from the starting point. At the AUTO mode, Quadcopter drove at a constant speed 3.37 m / s and then do LOITER at destination waypoint. While doing LOITER mode (hold position), Quadcopter shift with the lowest value as far as 5.64 m. As for the estimated maximum distance Quadcopter is 2830.8 m in AUTO mode with li-po battery 3000mAH.Keyword: GPS, CEP, 2DRMS, autonomous, waypoint