Design of a Two-Axis Pointing Sensor System (Azimuth and Elevation) Based on Servo Motors Using HC-SR04 Ultrasonic Sensors as Part of the SEWACO Subsystem
Rancang Bangun Sistem Pointing Sensor Dua Sumbu (Azimut dan Elevasi) Berbasis Servo Motor Menggunakan Sensor Ultrasonik HC-SR04 sebagai Bagian dari Subsistem SEWACO
DOI:
https://doi.org/10.21070/pels.v10i1.2943Keywords:
Two-Axis Pointing System, Azimuth, Elevation, Servo Motor, HC-SR04Abstract
General Background Modern defense architectures rely heavily on integrated sensor, weapon, and command systems to detect, track, and direct assets toward operational targets efficiently. Specific Background This study examines the design and construction of a two-axis pointing system utilizing servo motors and an HC-SR04 ultrasonic sensor as part of a low-cost embedded SEWACO subsystem. Knowledge Gap Although multi-axis alignment is crucial, prototyping affordable and reliable real-time targeting mechanisms utilizing low-cost microcontrollers remains underexplored. Aims This research aims to develop an automated two-axis sensor pointing mechanism capable of real-time target acquisition and angle referencing based on distance inputs. Results Findings demonstrate that the system successfully performs stable target tracking across static and dynamic conditions, yielding average tracking errors of 3.72° in azimuth and 0.41° in elevation. Novelty This work introduces an integrated closed-loop PID control mechanism combined with joystick manual override for dual-axis ultrasonic-based sensor pointing. Implications The developed prototype serves as an effective foundational model for low-cost embedded target acquisition systems in naval and defense applications.
Key Findings Highlights
The two-axis pointing system successfully automates azimuth and elevation adjustments using ultrasonic distance data,
Closed-loop PID control implementation stabilizes actuator positioning and target locking within operational ranges,
Testing confirms stable real-time target tracking despite minor mechanical backlash and sensor noise limitations.
Keywords Two-Axis Pointing System, Azimuth, Elevation, Servo Motor, HC-SR04
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