The Calculation of Gyroscope Sensor Angles Using Several Integral Methods

Integral calculation for measuring angles using a gyroscope sensor is increasingly being applied in various Gelds. The integral calculation accumulates errors so that the data calculation of the gyroscope angle is not good. Determining integral methods is important to overcome this problem. In this research, the integral calculation to Ggure out the angle orientation of the gyroscope sensor is conducted using 8 methods. The purpose of this research is to test 8 integral methods in order to get the optimal method for calculating the angle orientation using the gyroscope sensor. The result of the experiment using a rotary table rotating with an average speed of 0.9 deg/s shows that the integral method with the smallest error is the Boole method with a percentage of 1.744%. However, the integral method with the biggest percentage error is the reinsman, Trapezoid, and 2nd order of Adams-Bashforth-Moulton (ABM) method which has the same percentage of 1.762%. On the other hand, regarding the time response to movement, Boole method comes as the slowest method while the Rienmann, Trapezoid, and 2nd orde of ABM methods have the fastest motion response with 0.1 seconds.