Rancang Bangun Autotracking Antena Stasiun Penerima Pada Frekuensi Kerja 2.4ghz Berdasarkan Sudut Azimuth dan Elevasi Menggunakan Mikrokontroler Arduino

LAMPIRAN A

Sintaks Program Sistem Autotracking pada Stasiun Pengirim

#include
#include
#include
#include
#include
#include "printf.h"
#include
#include

Adafruit_BMP085 bmp;

static const int RXPin = 3, TXPin = 4; // GPS connections (RX pin connects to
TX on module and other wise)
static const uint32_t GPSBaud = 9600; // GPS Baud Rate

SoftwareSerial ss(RXPin, TXPin); // The serial connection to the GPS device
TinyGPSPlus gps;

// The TinyGPS++ object

// BMP Altitude[0]
double myAlt[1]; //current BMP height
// GPS Latitude[0]/Longitude[1]
double myLL[2];

//current GPS location

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RF24 radio(7,8); // nRF24L01 radio attached (CE, CSN)
RF24Network network(radio);
const uint16_t channel = 60;

// Network uses that radio
// Channel of our node

const uint16_t this_node = 1; // Address of our node

const uint16_t other_node = 0; // Address of the base

unsigned long packets_sent;

// How many packets have we sent already

// Structure of our payload, limited to 32 bytes
struct payload_t

// 32 bytes max

{
unsigned long counter; // 4 bytes
double lat;

// 4 bytes

double lng;

// 4 bytes

double Altitude;

// 4 bytes

};

void setup()
{
Serial.begin(9600);
Wire.begin();
ss.begin(GPSBaud); // start Software Serial
bmp.begin();
printf_begin();

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SPI.begin();
radio.begin();
network.begin(channel, this_node);

}

void loop()
{
while (ss.available() > 0)
{
if (gps.encode(ss.read()))
{
getGPS();
sendPayload();

//Baca data latitude, longitude dan altitude
//kirim data yang telah terbaca

smartDelay(2000);

if (millis() > 5000 && gps.charsProcessed() < 10)
{
Serial.println(F("No GPS detected: check wiring."));
while(true);

}
}
}
}

void getGPS() //Baca data latitude, longitude dan altitude
{

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if (gps.location.isValid())
{
myLL[0] = gps.location.lat();
myLL[1] = gps.location.lng();
myAlt[0]= bmp.readAltitude(101500);
printf("Altitude = ");
Serial.print(myAlt[0],6);
printf(" lat: ");
Serial.print(myLL[0],6);
printf(" lng: ");

Serial.print(myLL[1],6);
printf("\n");
}
}

void sendPayload() //kirim data yang telah terbaca
{
payload_t payload = {packets_sent++, myLL[0], myLL[1], myAlt[0]};
RF24NetworkHeader header(/*to node*/ other_node);
bool ok = network.write(header,&payload,sizeof(payload));
radio.powerDown();

// Power down the radio. Note that the radio will get
powered back up on the next write() call.

}

static void smartDelay(unsigned long ms) // ensures that the gps object is being
"fed"
{

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unsigned long start = millis();
do
{
while (ss.available())
gps.encode(ss.read());
} while (millis() - start < ms);
}

Sintaks Program Sistem Autotracking pada Stasiun Penerima

#include
#include
#include
#include
#include
#include
#include "printf.h"

#include
#include
#include
#include

HMC5883L compass;
int error = 0;

static const int RXPin = 4, TXPin = 3;

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static const uint32_t GPSBaud = 9600;

Servo myservo;
Servo myservo1;
LiquidCrystal_I2C lcd(0x27, 20, 4);
Adafruit_BMP085 bmp;
TinyGPSPlus gps;
SoftwareSerial ss(RXPin, TXPin);

double x1,x2,y1,y2,a,b,c,alt1,alt2;
double sudut,jarak,sudut_elevasi;

RF24 radio(7,8);
RF24Network network(radio);

// Network uses that radio

const uint16_t channel = 60;

// Channel of our node

const uint16_t this_node = 0;

// Address of our node

const uint16_t other_node = 1; // Address of the other node

unsigned long packets_sent;

// How many packets have we sent already

// GPS Latitude[0];Longitude[1]
double setLL[2]; //stored location
double myLL[2]; //current GPS location
double setAlt[1]; //stored altitude
double myAlt[1]; //current BMP altitude

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// Structure of our payload, limited to 32 bytes
struct payload_t

// 32 bytes max

{
unsigned long counter; // 4 bytes
double lat;

// 4 bytes

double lng;

// 4 bytes

float Altitude;

// 4 bytes

};

void setup()
{
lcd.begin();
lcd.backlight();

Serial.begin(9600);

bmp.begin();

myservo.attach(9); //azimuth
myservo.write(180);
delay(900);

myservo1.attach(10); //elevasi
myservo1.write(16);

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delay(900);

myservo.detach();
myservo1.detach();

printf_begin();

ss.begin(9600);

SPI.begin();

// Start the SPI interface.

radio.begin();
network.begin(channel,this_node);

Wire.begin();

// Start the I2C interface.

compass = HMC5883L();

// Construct a new HMC5883 compass.

error = compass.SetScale(1.3); // Set the scale of the compass.
if(error != 0)

// If there is an error, print it out.

Serial.println(compass.GetErrorText(error));
// Set the measurement mode to Continuous
error = compass.SetMeasurementMode(Measurement_Continuous);
if(error != 0)

// If there is an error, print it out.

Serial.println(compass.GetErrorText(error));

} //end of void setup

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void loop()
{

ss.begin(9600); //GPS on
delay(10);

network.update(); //pump the radio network regularly
delay(100);

//latitude, longitude & altitude stasiun penerima----------x1 = gps.location.lat();
y1 = gps.location.lng();
alt1 = bmp.readAltitude(101500);

Serial.print("x1 : ");
Serial.println(x1,6);
Serial.print("y1 : ");
Serial.println(y1,6);
Serial.print("alt1 : ");
Serial.println(alt1);
smartDelay(100);
//----------------------------------------------------------

//latitude, longitude & altitude stasiun pengirim-----------

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x2 = setLL[0];
y2 = setLL[1];
alt2 = setAlt[0];

Serial.print("x2 : ");
Serial.println(x2,6);
Serial.print("y2 : ");
Serial.println(y2,6);
Serial.print("alt2 : ");
Serial.println(alt2);
//latitude, longitude & altitude stasiun pengirim-----------

ss.end();

//GPS off

//kompas-----------------MagnetometerRaw raw = compass.ReadRawAxis();
MagnetometerScaled scaled = compass.ReadScaledAxis();
int MilliGauss_OnThe_XAxis = scaled.XAxis;// (or YAxis, or ZAxis)
float heading = atan2(scaled.YAxis, scaled.XAxis);

float declinationAngle = 0.0457;
heading += declinationAngle;

if(heading < 0)
heading += 2*PI;

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if(heading > 2*PI)
heading -= 2*PI;

float headingDegrees = heading * 180/M_PI;
Serial.println(headingDegrees);
//kompas------------------------

while(network.available())
{
getRadioData();

//Terima data Stasiun pengirim

//LCD-----------------------------lcd.clear();

lcd.setCursor(0, 0);
lcd.print(x2,6);

lcd.setCursor(0, 1);
lcd.print(y2,6);

lcd.setCursor(0, 2);
lcd.print(x1,6);

lcd.setCursor(0, 3);
lcd.print(y1,6);

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lcd.setCursor(10,0);
lcd.print("sdt");

lcd.setCursor(10,1);
lcd.print(sudut);

lcd.setCursor(10,2);
lcd.print("b/a");

lcd.setCursor(10,3);
lcd.print(c);

lcd.setCursor(15,0);
lcd.print("komp");

lcd.setCursor(15,1);
lcd.print(headingDegrees);

lcd.setCursor(15,2);
lcd.print("elv");

lcd.setCursor(15,3);
lcd.print(sudut_elevasi);
//LCD---------------------------------------}

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if (x1 != 0 && x2 != 0)
{
hitung_sudut();
elevasi();

//--------------------------------------AZIMUTH-------------------------------if (headingDegrees >=100 && headingDegrees badan stasiun
penerima ke arah TIMUR
{
if(a>0 && b >0)
{
int pos;
pos = 180 - (sudut * 0.84);
myservo.attach(9);
myservo.write(pos);
delay(100);
myservo.detach();
}
else if (a0)
{
int pos;
pos = 180 - ((180-sudut) *0.84) ;
myservo.attach(9);
myservo.write(pos);
delay(100);

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myservo.detach();
}
}
//---------------------------AZIMUTH----------------------------------------

//--------elevasi--------int pos;
myservo1.attach(10);
pos = 16 + sudut_elevasi;
myservo1.write(pos);
delay(1000);
myservo1.detach();
//--------elevasi---------}

if (millis() > 5000 && gps.charsProcessed() < 10)
Serial.println(F("No GPS data received: check wiring"));

} //end of void loop

double hitung_sudut()
{
a = x2 - x1;
b = y2 - y1;
c = b/a;
if (c < 0)

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{
c = c*(-1);
}

sudut = round(atan(c)*180/3.14159265);
delay(10);
Serial.print("sudut : ");
Serial.println(sudut);

}

double elevasi()
{
//Euclidean Formula
double xy = sqrt((pow(a,2)) + (pow(b,2)));
jarak = 111319 * xy;
double t_per_j = (alt2 - alt1)/jarak;
sudut_elevasi = round(atan(t_per_j)*180/3.14159265);

}

// This custom version of delay() ensures that the gps object is being "fed".
static void smartDelay(unsigned long ms)
{
unsigned long start = millis();
do

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{
while (ss.available())
gps.encode(ss.read());
} while (millis() - start < ms);
}

void getRadioData()
{
RF24NetworkHeader header;
payload_t payload={packets_sent++, myLL[0], myLL[1], myAlt[0]};
bool done = false;

while (!done)
{
done = network.read(header,&payload,sizeof(payload));
setLL[0] = payload.lat;
setLL[1] = payload.lng;
setAlt[0]= payload.Altitude;

printf(" Alt: ",setAlt[0],6);
Serial.print(setAlt[0],6);

printf(" Lat: ",setLL[0],6);
Serial.print(setLL[0],6);

printf(" Lng: ",setLL[1],6);

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Serial.print(setLL[1],6);
printf("\n");
}
}

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LAMPIRAN B
Diagram Alir Sistem Autotracking Stasiun Pengirim

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Diagram Alir Sistem Autotracking Sudut Azimuth

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Diagram Alir Sistem Autotracking Sudut Elevasi

jarak = √

+

.

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LAMPIRAN C
Tabel hasil pengujian autotracking sudut azimuth pertama
Posisi RX

Posisi TX

No
Latitude

Longitude

Latitude

Besar Sudut Besar Sudut
Besar
Longitude Perhitungan Pengukuran Kesalahan

1

3.557109 98.658201 3.557471 98.658882

62°

63°

1°

2

3.557109 98.658201 3.557471 98.658882

62°

62°

0°

3

3.557109 98.658201 3.557471 98.658882

62°

63°

1°

4

3.557109 98.658201 3.557471 98.658882

62°

63°

1°

5

3.557109 98.658201 3.557471 98.658882

62°

63°

1°

6

3.557109 98.658201 3.557471 98.658882

62°

62°

0°

7

3.557109 98.658201 3.557471 98.658882

62°

63°

1°

8

3.557109 98.658201 3.557471 98.658882

62°

63°

1°

9

3.557109 98.658201 3.557471 98.658882

62°

63°

1°

10

3.557109 98.658201 3.557471 98.658882

62°

63°

1°

Rata3.557109 98.658201 3.557471 98.658882
Rata

62°

62,8°

0,8°

Grafik hasil pengujian autotracking sudut azimuth pertama

PENGUJIAN AUTOTRACKING
AZIMUTH 1

BESAR SUDUT (DERAJAT)

Hasil Perhitungan

Hasil Pengukuran

63.5
63
62.5
62
61.5
1

2

3

4

5

6

7

8

9

10

PERCOBAAN

Universitas Sumatera Utara

Tabel hasil pengujian autotracking sudut azimuth kedua
Posisi RX

Posisi TX

Besar Sudut Besar Sudut
Besar
Perhitungan
Pengukuran
Kesalahan
Longitude

No
Latitude

Longitude

Latitude

1

3.557109 98.658201 3.556967 98.659556

96°

95°

1°

2

3.557109 98.658201 3.556967 98.659556

96°

95°

1°

3

3.557109 98.658201 3.556967 98.659556

96°

95°

1°

4

3.557109 98.658201 3.556967 98.659556

96°

95°

1°

5

3.557109 98.658201 3.556967 98.659556

96°

95°

1°

6

3.557109 98.658201 3.556967 98.659556

96°

95°

1°

7

3.557109 98.658201 3.556967 98.659556

96°

95°

1°

8

3.557109 98.658201 3.556967 98.659556

96°

95°

1°

9

3.557109 98.658201 3.556967 98.659556

96°

95°

1°

10

3.557109 98.658201 3.556967 98.659556

96°

95°

1°

Rata3.557109 98.658201 3.556967 98.659556
Rata

96°

95°

1°

Grafik hasil pengujian autotracking sudut azimuth kedua

PENGUJIAN AUTOTRACKING AZIMUTH 2
Hasil Perhitungan

Hasil Pengukuran

96.2
BESAR SUDUT (DERAJAT)

96
95.8
95.6
95.4

95.2
95
94.8
94.6
94.4
1

2

3

4

5

6

7

8

9

10

PERCOBAAN

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Tabel hasil pengujian autotracking sudut azimuth ketiga
Posisi RX

Posisi TX

Besar Sudut Besar Sudut
Besar
Perhitungan
Pengukuran
Kesalahan
Longitude

No
Latitude

Longitude

Latitude

1

3.557109 98.658201 3.556495 98.659558

114°

112°

2°

2

3.557109 98.658201 3.556967 98.659556

114°

112°

2°

3

3.557109 98.658201 3.556967 98.659556

114°

113°

1°

4

3.557109 98.658201 3.556967 98.659556

114°

112°

2°

5

3.557109 98.658201 3.556967 98.659556

114°

112°

2°

6

3.557109 98.658201 3.556967 98.659556

114°

112°

2°

7

3.557109 98.658201 3.556967 98.659556

114°

112°

2°

8

3.557109 98.658201 3.556967 98.659556

114°

112°

2°

9

3.557109 98.658201 3.556967 98.659556

114°

112°

2°

10

3.557109 98.658201 3.556967 98.659556

114°

113°

1°

Rata3.557109 98.658201 3.556967 98.659556
Rata

114°

112°

1,8°

Grafik hasil pengujian autotracking sudut azimuth ketiga

PENGUJIAN AUTOTRACKING AZIMUTH 3
Hasil Perhitungan

Hasil Pengukuran

BESAR SUDUT (DERAJAT)

114.5
114
113.5
113
112.5
112
111.5
111
1

2

3

4

5

6

7

8

9

10

PERCOBAAN

Universitas Sumatera Utara

Tabel hasil pengujian autotracking sudut elevasi pertama

No

Ketinggian Ketinggian
RX (m)
TX (m)

Jarak kedua
Stasiun (m)

Besar Sudut Besar Sudut
Besar
Perhitungan Pengukuran Kesalahan

1

71

76

17,37

16°

16°

0°

2

71

76

17,37

16°

17°

1°

3

71

76

17,37

16°

16°

0°

4

71

76

17,37

16°

16°

0°

5

71

76

17,37

16°

16°

0°

6

71

76

17,37

16°

17°

1°

7

71

76

17,37

16°

17°

1°

8

71

76

17,37

16°

16°

0°

9

71

76

17,37

16°

16°

0°

10

71

76

17,37

16°

15°

1°

RataRata

71

76

17,37

16°

16,2°

0,4°

Grafik hasil pengujian autotracking sudut elevasi pertama

PENGUJIAN AUTOTRACKING ELEVASI 1
Hasil Perhitungan

Hasil Pengukuran

BESAR SUDUT (DERAJAT)

17.5

17
16.5
16
15.5
15
14.5
14
1

2

3

4

5

6

7

8

9

10

PERCOBAAN

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Tabel hasil pengujian autotracking sudut elevasi kedua

No

Ketinggian Ketinggian
RX (m)
TX (m)

Jarak kedua
Stasiun (m)

Besar Sudut Besar Sudut
Besar
Perhitungan Pengukuran Kesalahan

1

71

81

17,37

30°

31°

1°

2

71

81

17,37

30°

32°

2°

3

71

81

17,37

30°

30°

0°

4

71

81

17,37

30°

31°

1°

5

71

81

17,37

30°

31°

1°

6

71

81

17,37

30°

31°

1°

7

71

81

17,37

30°

32°

2°

8

71

81

17,37

30°

31°

1°

9

71

81

17,37

30°

31°

1°

10

71

81

17,37

30°

31°

1°

RataRata

71

81

17,37

30°

31,1°

1,1°

Grafik hasil pengujian autotracking sudut elevasi kedua

PENGUJIAN AUTOTRACKING ELEVASI 2
Hasil Perhitungan

Hasil Pengukuran

BESAR SUDUT (DERAJAT)

32.5

32
31.5
31
30.5
30
29.5
29
1

2

3

4

5

6

7

8

9

10

PERCOBAAN

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Tabel hasil pengujian autotracking sudut elevasi ketiga

No

Ketinggian Ketinggian
RX (m)
TX (m)

Jarak kedua
Stasiun (m)

Besar Sudut Besar Sudut
Besar
Perhitungan Pengukuran Kesalahan

1

71

86

17,37

41°

41°

0°

2

71

86

17,37

41°

41°

0°

3

71

86

17,37

41°

40°

1°

4

71

86

17,37

41°

40°

1°

5

71

86

17,37

41°

41°

0°

6

71

86

17,37

41°

41°

0°

7

71

86

17,37

41°

41°

0°

8

71

86

17,37

41°

41°

0°

9

71

86

17,37

41°

41°

0°

10

71

86

17,37

41°

41°

0°

RataRata

71

86

17,37

41°

40,8°

0,2°

Grafik hasil pengujian autotracking sudut elevasi ketiga

PENGUJIAN AUTOTRACKING ELEVASI 3
Hasil Perhitungan

Hasil Pengukuran

41.2
BESAR SUDUT (DERAJAT)

41
40.8
40.6
40.4
40.2
40
39.8
39.6
39.4
1

2

3

4

5

6

7

8

9

10

PERCOBAAN

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