Determining Qibla Direction using al-Biruni's First Method from Kitab Tahdid Nihayat al-Amakin with The Implementation Based on Board Arduino MCU, GPS Module, and Digital Compass

Qibla is the direction to faces Kaaba (Mecca) when performing various worship of Muslims, especially in Sholat. Because of the Qibla direction is very important, Muslims scientists develop a various mathematical method for determining Qibla direction in a Location which far away from Kaaba. This paper describes the mathematical algorithm for determining Qibla direction using al-Biruni`s (973 - 1050 CE) first method from Kitab Tahdid Nihayat Al-Amakin. In this paper, the computation for determining Qibla direction based on al-Biruni`s first methods has been implemented using Python, and the result shows that the Qibla direction of al-Biruni`s first method is equal to modern spherical trigonometry method. Al-Birunis first method has been implemented to develop an algorithm for Qibla finder devices (Q-Bot Ver. 3 digital instruments) based board Arduino microcontroller, GPS module, and digital compass.