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Tracking Object based on GPS and IMU Sensor

Wahyudi

Department of Electrical Engineering

Diponegoro University

Semarang, Indonesia

wahyuditinom@elektro.undip.ac.id

Ngatelan

Department of Electrical Engineering

Diponegoro University

Semarang, Indonesia

ngatelan@undip.ac.id

Meita Sukma Listiyana

Department of Electrical Engineering

Diponegoro University Semarang,

Indonesia

meitasukma5@gmail.com

Sudjadi

Department of Electrical Engineering

Diponegoro University

Semarang, Indonesia

ksudjadi@gmail.com

Abstract—

Unmanned vehicles required a tracking system

to monitor the movement of the object. Tracking system

required because the object is controlled remotely and the

movement of an object is too far from an operator. This

tracking system requires object location and attitude. Global

Positioning System (GPS) and Inertial Measurement Unit

(IMU) sensor can be used to obtain information about object

location and attitude. This IMU consists of some sensors, i.e.

accelerometer, gyroscope, and magnetometer. In IMU system,

angle data from gyroscope and accelerometer sensor must be

combined using a complementary filter because each sensor

data still has a noise signal. This paper discusses tracking

object using GPS and IMU sensor and then processed by the

microcontroller to display in Personal Computer (PC). Object

tracking system that designed works well. The result of testing,

the average of error for GPS and IMU system, respectively, are

2.67 m and 0.96

Keywords— tracking system; GPS; IMU sensor; position and

attitude

I. I

NTRODUCTION

EADING

The increasing of unmanned vehicles or unmanned

objects, such as Unmanned Aerial Vehicle (UAV) and

Unmanned Surveillance Vehicle (USV), required a tracking

system to know the movement of the object[1]. Tracking

system required because the object is controlled remotely

and the movement of an object is too far from an operator.

This tracking system requires object location and attitude.

Object location indicated by latitude and longitude

coordinates where the object is placed, while attitude

indicated by roll, pitch, and yaw angle.

Global Positioning System (GPS) and Inertial

Measurement Unit (IMU) sensor can be used to obtain

information about object location and attitude[2]. IMU

consists of several sensors, such as accelerometer,

gyroscope, and magnetometer sensor[3]. Such of the sensors

provide information about data angle, data from each sensor

must be combined because each sensor data still has a noise

signal. The sensor data must be filtered with complementary

filter, so the result turned to good[4].

This paper discusses about tracking object using GPS and

IMU sensor; that object is static and moving. The obtained

data is processed by microcontroller, then sent to Personal

Computer (PC) using receiver and transmitter antenna of

433MHzfrequency radio. Tracking object is monitored by

PC in real time.

II. M

ETHODOLOGY

A. Block Diagram

The GPS, accelerometer, gyroscope, and magnetometer

sensor are used as input for the system. Microcontroller is

used to process input data. The output system is PC, receiver

and transmitter antenna of 433MHzfrequency radio. Block

diagram of tracking object is shown in Fig.1.

GPS is giving information about location for the object,

i.e. latitude and longitude coordinate. Accelerometer,

gyroscope, and magnetometer sensor are giving information

about attitude of the object, there are roll, pitch, and yaw

angle. Complementary filter is used to combine the sensor

data, because the sensor data still has a noise signal. The

data inputs of GPS, accelerometer, gyroscope, and

magnetometer are processed on microcontroller. Data inputs

are sent using the transmitter antenna of 433MHzfrequency

radio after processed by microcontroller, then received by

the receiver antenna of 433MHzfrequency radio. Finally, the

data are displayed on PC.

B. Design of Hardware Components

The assembly of hardware components from the tracking

object system is made by following components as shown in

Fig. 2.

Fig. 1. Block diagram of tracking object based on GPS and IMU

sensor

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