PRASETYO, ALFAN (2026) PERANCANGAN SISTEM MONITORING JARAK PORTABEL (RAILSENSE-LR) DENGAN INTEGRASI LIDAR, BNO055 IMU, DAN LORA UNTUK PERGERAKAN KERETA API. S1 thesis, Universitas Mercu Buana Jakarta.
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Abstract
Train movements, particularly during shunting operations, represent a critical operational aspect that demands precise monitoring to ensure safety. The primary challenges during these maneuvers are the high risk of incidents caused by blind spots and the lack of accurate distance and speed references for field personnel. In current real-world railway operations, monitoring still relies heavily on visual guidance and voice radio communication, which are constrained by limited visibility and are highly susceptible to human error. As a solution, this study designs and implements RailSense-LR as a portable system for monitoring rolling stock operational parameters. The system is developed using an ESP32 microcontroller integrated with a TF02-Pro LiDAR sensor for distance detection, an E220 LoRa module for wireless data transmission, a u-blox NEO-M8N GPS module for extracting position and speed, and a BNO055 IMU for recording orientation dynamics through pitch and roll parameters. System testing was conducted under actual field operational conditions utilizing comparative analysis and descriptive statistical methods. The test results demonstrate that the TF02-Pro LiDAR sensor maintains a very strong linear relationship with the reference distance, achieving a coefficient of determination (R²) of 0.9980–0.9998 and a Mean Absolute Error (MAE) ranging from 0.0460 to 0.1041 m. Speed evaluation using the GPS module yielded an average error of 0.36–0.43 km/h with an R² of 0.9983–0.9992. The BNO055 sensor stably captured pitch and roll variations across diverse track profiles. During wireless communication testing, the LoRa module sustained delay-free transmission up to approximately 1,000 m under Line-of-Sight (LoS) conditions; however, under Non-Line-of-Sight (NLoS) conditions obstructed by the steel bodies of the railcars, the optimal transmission range decreased to approximately 800 m. Furthermore, the system's fail-safe mechanism proved capable of delivering prompt and accurate early�warning responses to transmission delays and connection losses. Based on these results, RailSense-LR successfully integrates distance, speed, orientation dynamics, and data transmission into a real-time monitoring system. This makes it highly viable as a safety�supporting instrument for railway rolling stock movements. Keywords: Train movement, RailSense-LR, LiDAR, LoRa, GPS, BNO055, real-time monitoring, shunting. Pergerakan kereta api, khususnya pada kegiatan langsir, merupakan aspek operasional vital yang menuntut pemantauan secara presisi untuk menjamin keselamatan. Kendala utama dalam pergerakan ini adalah tingginya risiko insiden akibat area blind spot serta minimnya referensi jarak dan kecepatan yang akurat bagi petugas lapangan. Pada kondisi riil operasional perkeretaapian saat ini, pemantauan masih banyak bergantung pada panduan visual dan komunikasi radio suara yang memiliki keterbatasan ruang pandang dan rentan terhadap human error. Sebagai solusi, penelitian ini merancang dan mengimplementasikan RailSense-LR sebagai sistem portabel pemantauan operasional sarana. Sistem ini dikembangkan menggunakan mikrokontroler ESP32 yang mengintegrasikan sensor LiDAR TF02- Pro untuk deteksi jarak, komunikasi LoRa E220 untuk transmisi data nirkabel, GPS U-blox NEO-M8N untuk mengekstraksi posisi dan kecepatan, serta IMU BNO055 untuk merekam dinamika orientasi melalui parameter pitch dan roll. Pengujian sistem dilakukan pada kondisi operasional lapangan menggunakan metode analisis komparatif dan statistik deskriptif. Hasil pengujian menunjukkan bahwa sensor LiDAR TF02-Pro memiliki hubungan linear yang sangat kuat terhadap jarak referensi, dengan koefisien determinasi (R²) sebesar 0,9980–0,9998 dan nilai Mean Absolute Error (MAE) sebesar 0,0460–0,1041 m. Pengujian kecepatan menggunakan GPS menghasilkan error rata-rata sebesar 0,36–0,43 km/jam dengan nilai R² 0,9983–0,9992. Sensor BNO055 mampu merekam perubahan pitch dan roll secara stabil pada berbagai karakteristik lintasan. Pada pengujian komunikasi nirkabel, modul LoRa sanggup mempertahankan transmisi tanpa delay hingga jarak sekitar 1.000 m pada kondisi Line-of-Sight (LoS), sedangkan pada kondisi Non-Line-of-Sight (NLoS) yang terhalang material baja bodi gerbong, batas transmisi optimal menurun menjadi sekitar 800 m. Mekanisme fail-safe pada sistem juga terbukti mampu memberikan respons peringatan dini secara akurat terhadap kondisi delay dan kehilangan koneksi. Berdasarkan hasil tersebut, RailSense-LR berhasil mengintegrasikan pemantauan jarak, kecepatan, dinamika orientasi, dan transmisi data secara real-time, sehingga layak digunakan sebagai instrumen pendukung keselamatan pada pergerakan sarana. Kata kunci: Pergerakan kereta api, RailSense-LR, LiDAR, LoRa, GPS, BNO055, monitoring real-time, langsir.
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