Nurhadi, Hendro and -, Subchan and athur R., Gustiyadi F Design of Position Estimation Algorithm of Navigation and Trajectory System for Unmanned Underwater Vehicle Its AUV-01 using Ensemble Kalman Filter (Enkf) Method. proceeding 13 th seminar on intelegent Technology and Its Aplication (057). ISSN 2252-8296
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Abstract
Unmanned submarine is one of the
unmanned water vehicle that are controlled
automatically and included in Autonomous
Underwater Vehicle (AUV) groups. Having
underwater surface operating area, AUV required a
navigation system that can be maneuvered 6 degree of
freedom (multi DOF) which is projected in the 3x2D
projection planes (XY, XZ, and YZ plane) and able to
estimate position exactly match the desired trajectory.
The navigation system itself is the coordination of
planning, sensing and control in trajectory from initial
position to the target without a collision or ability to
avoid existing obstacle. The result of Ensemble
Kalman Filter algorithm implementation during the
simulation using 2 or 3 measurement data from
100~400 ensemble shows that in estimating position of
AUV trajectory are proficient to produce a relatively
small RMS Error (0~1) in each state.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | navigation system, autonomous underwater vehicle, path, ensemble kalman filter, trajektory, multi DOF. |
| Subjects: | V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles. |
| Divisions: | Faculty of Industrial Technology > Mechanical Engineering |
| Depositing User: | Mr. Tondo Indra Nyata |
| Date Deposited: | 09 Aug 2019 08:59 |
| Last Modified: | 27 Aug 2019 01:06 |
| URI: | http://repository.its.ac.id/id/eprint/70264 |
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