Qibla-Finding Robot based on Vector and Fuzzy Logic Methods for Accurate Directional Alignment

Several tools have been created that use spherical trigonometric formula as a method to identify Qibla direction. However, since it involves many angles in trigonometry on the surface of the sphere, the spherical trigonometry formula is difficult to calculate. spherical trigonometric formula is difficult to calculate. An alternative approach to improvised formula for determining the Qibla direction has been using vector algebra (VA). To use vector algebra for Qibla direction, a prototype Qibla direction robot is being developed using a vector approach and fuzzy logic. is being developed by using the vector approach and fuzzy logic control. The robot’s microcontroller receives location data from global positioning system (GPS) that it carries. After encoded into a user-friendly format, the location data is is processed using the angle formula between two vectors to obtain theta. Theta is the angle obtained from the point of the gps coordinate point vector with the north pole${{\text{(}}^ \to }{\text{)}}$ and the gps coordinate point vector with the kabah$(\vec u)$. After getting theta, the Qibla direction is 360-theta. Obtained Qibla at 293.07 degrees, there is a difference of 2.13 degrees with the Qibla determined by KEMENAG. After determining the Qibla direction, a fuzzy logic control model is created with 2 inputs and an output. The inputs given are theta and 360-theta, for input using a calibrated Gy-271 compas module. The robot has a stepper motor with a speed that has been set by fuzzy logic, the speed that has been set will make the robot stop at 293 degrees to 295 degrees (Qibla according to KEMENAG). Setting the speed on the stepper motor aims so that there is no excess motor rotation so that the robot will be precise.