Automatic Take-off And Landing (atol) In Swarm-iot For Air Quality Measurement

Arina Salsabila, Nyoman Karna, Soo Young Shin


The main problem of the conventional air quality measurement system is it
sometime gives inaccurate result due to the pollution nearby the sensor. To solve this
problem, this research builds a prototype of Unmanned Aerial Vehicle (UAV) as part of
Swarm-IoT (Internet of Things) to measure the air quality. Since a Swarm-IoT is a
distributed autonomous IoT devices, we have to make sure that the UAV has the ability to
identify the take-off position to know where it should return autonomously without the help
of remote control. Thus, the purpose of this research is to create an Automatic Take Off and
Landing (ATOL) functionality on the air quality measurement UAV. For air quality
measurement purposes, as an additional of the ATOL functionality, we program the UAV to
operate autonomously from take-off, hover at the altitude of 3 and 5 m for measuring the air
quality, and finally landing on the same position from take-off without any human
intervention. In general, the components used to do the ATOL functionality for the UAV are
Pixhawk, Mission Planner, Global Positioning System (GPS), Telemetry, and a personal
computer. The results obtained after creating the system are the UAV can successfully takeoff and land automatically to the take-off place with the precision of average distance from
the takeoff and landing position is 45 cm. The average data error for take off coordinate is
2.95 m and the average data error for landing coordinate is 2.95 m. The precision of the
altitude at 3 m is 9.5 cm and at 5 m is 6.9 cm.
Keywords: UAV, Swarm-IoT, ATOL,GPS.

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