Penerapan Wavelet Transform pada Analisis Error Pembacaan Internal Measurement Unit dengan Berbagai Variasi Level Cairan pada Tangki Drone Sprayer di PT. Frogs Indonesia Yogyakarta
DOI:
https://doi.org/10.25170/jpk.v2i05.7242Keywords:
Discrete Wavelet Transform (DWT), Drone sprayer, Internal Measurement Unit (IMU), Sloshing, Wavelet transformAbstract
Sloshing in the drone sprayer tank can disrupt IMU readings and reduce control stability. This study evaluates the influence of 1–5 liter liquid levels on IMU errors and the effectiveness of DWT using the Daubechies 4 basis with three decomposition levels, where D1 was removed, D2 was processed with soft thresholding, and A3–D3 were retained. The highest errors occurred at 1–2 liters, indicated by higher RMSE values. After denoising, RMSE decreased significantly up to 65.90% on the y-acceleration axis demonstrating that DWT is effective in reducing noise and improving sensor accuracy to maintain drone stability under dynamic conditions.
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