viii
TABLE OF CONTENT
Declaration ii
Approval iii
Abstrak iv
Abstract v
Dedication vi
Acknowledgements vii
Table Of Contents viii
List Of Figures xii
List Of Table xiv
List Of Symbols And Abbreviations xv
CHAPTER 1: INTRODUCTION 1
1.1 Background 1
1.2 Problem Statement 2
1.3 Objective 3
1.4 Scope 3
1.5 Thesis outline 4
CHAPTER 2: LITERATURE REVIEW 5
2.1 Hardware 5
2.1.1 Controller Unit 5
2.1.2 GPS Module 7
2.1.3 Electronic Compass 7
2.1.4 User interface system 8
2.1.5 Sensor Unit 10
2.2 Software 11
2.2.1 Programming 11
2.2.2 Communication protocol 12
ix 2.3 Comparison of method
13 2.3.1 Comparison of hardware
13 2.3.2 Comparison of software
14 2.4 Conclusion
14
CHAPTER 3: METHODOLOGY 15
3.1 Project Methodology 15
3.1.1 Flow Chart 16
3.1.2 Block diagram of guidance system 18
3.1.3 Circuit Schematic Design 19
3.1.3.1 Testing the Designed Circuit 20
3.1.4 Hardware component of the project 21
3.1.4.1 GPS Receiver 22
3.1.4.1.1 Pin description 23
3.1.4.1.2 GPS settings 23
3.1.4.1 Electronic Compass 24
3.1.4.2.1 Interface Command 25
3.1.4.3 Arduino Mega 2560 25
3.1.4.4 DC Servo motor 26
3.1.4.4.1 Position Control 27
3.1.4.5 12 Volt DC motor 28
3.1.4.6 Dual DC Motor Driver 28
3.1.4.7 Lithium Polymer Battery 29
3.1.4.8 Power Supply Unit Board 30
3.1.5 Model Prototype 30
3.1.6 Software 31
3.1.6.1 UART communication 31
3.1.6.2 I2C Communication Protocol 32
3.1.6.3 NMEA Standard 33
3.1.7 Calculation 34
3.1.7.1 Haversine Formula 34
3.1.7.1.1 Distance 34
3.1.7.1.2 Bearing 35
x
CHAPTER 4: PROJECT DEVELOPMENT 36
4.1 Electrical Design 37
4.1.1 FV-M8 GPS Receiver 37
4.1.1.1 GPS block diagram 37
4.1.1.2 GPS Receiver wiring 38
4.1.2 HMC6352 Electronic Compass 40
4.2 Mechanical Design 41
4.2.1 Body chassis 41
4.2.2 Forward and reverse movement motor 42
4.2.3 Turning left and right movement motor 42
4.3 Software Development 43
4.3.1 Algorithm Flow Chart 43
4.3.1.1 Communication of GPS Receiver using TinyGPS library
44
CHAPTER 5: RESULT AND DISCUSSION 47
5.1 The performance of the FV-M8 GPS Receiver 47
5.1.1 Accuracy of FV-M8 GPS Receiver 47
5.1.2 Unstable connection between satellite and GPS Receiver 49
5.1.3 Stable connection between satellite and GPS Receiver 50
5.2 The Deviation FV-M8 and HMC6352 in Disturbance Environment
52
5.3 Elevation Error 54
5.4 The performance of SDTC in Dynamic Environment 56
5.4.1 Testing waypoint 56
5.5 Conclusion 61
CHAPTER 6: SUMMARY AND CONCLUSION 63
