Estimasi Tinggi Gelombang Smart Buoy Berbasis IMU Menggunakan Madgwick dan Kalman Filter

Naufal A. Furqan; Muhammad Zulfikri; Rifqi Hammad; Bambang Krismono Triwijoyo; Husain Husain

doi:10.31004/riggs.v5i2.12301

Authors

Naufal A. Furqan Universitas Bumigora
Muhammad Zulfikri Universitas Bumigora
Rifqi Hammad Universitas Bumigora
Bambang Krismono Triwijoyo Universitas Bumigora
Husain Husain Universitas Bumigora

DOI:

https://doi.org/10.31004/riggs.v5i2.12301

Keywords:

Smart Buoy, IMU, Hs, Madgwick Filter, Kalman Filter, Significant Wave Height

Abstract

Pengukuran tinggi gelombang laut merupakan informasi penting untuk mendukung keselamatan pelayaran, aktivitas perikanan, dan pemantauan kondisi oseanografi. Namun, perangkat pengukuran gelombang komersial umumnya memiliki biaya yang tinggi sehingga penggunaannya masih terbatas. Penelitian ini bertujuan mengembangkan smart buoy berbasis Inertial Measurement Unit (IMU) untuk mengestimasi tinggi gelombang laut secara real-time menggunakan kombinasi Madgwick Filter dan Kalman Filter. Sistem dikembangkan menggunakan mikrokontroler ESP32, sensor MPU6050, dan komunikasi LoRa untuk mengirimkan data ke Google Sheets yang kemudian divisualisasikan melalui Google Looker Studio. Data akselerometer dan giroskop diproses menggunakan Madgwick Filter untuk memperoleh estimasi orientasi, dilanjutkan dengan kompensasi gravitasi, integrasi numerik untuk memperoleh sinyal heave, serta penyaringan menggunakan Kalman Filter sebelum menghitung Significant Wave Height (Hs). Hasil pengujian menunjukkan bahwa sistem mampu melakukan akuisisi, pemrosesan, pengiriman, dan visualisasi data secara real-time. Hasil estimasi Hs memiliki kesesuaian yang tinggi terhadap data referensi dengan nilai RMSE sebesar 0,0135 m, MAE sebesar 0,0116 m, MAPE sebesar 4,19%, akurasi sebesar 95,81%, dan koefisien determinasi (R²) sebesar 0,9918. Hasil tersebut menunjukkan bahwa kombinasi Madgwick Filter dan Kalman Filter mampu menghasilkan estimasi tinggi gelombang yang akurat, sehingga smart buoy yang dikembangkan berpotensi menjadi alternatif sistem pemantauan gelombang laut yang sederhana, berbiaya relatif rendah, dan mudah diimplementasikan.

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