Estimasi Posisi Kapal Perang Extended Korvet SIGMA Menggunakan Metode Unscented Kalman Filter (UKF)

Zakiyah, Khofifah Ummu (2021) Estimasi Posisi Kapal Perang Extended Korvet SIGMA Menggunakan Metode Unscented Kalman Filter (UKF). Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

AIS atau Automatic Identification Sistem adalah sistem pemancaran radio Very High Frequency (VHF) yang menyampaikan data-data melalui VHF Data Link (VDL) untuk mengirim dan menerima informasi secara otomatis dalam pengaturan lalu lintas kapal dan penurunan angka bahaya dalam bernavigasi. Pada realitanya, AIS dapat mengalami kesalahan(error) sehingga data yang disampaikan tidak akurat. Misalnya error pada Positioning System sehingga kapal tidak dapat mengetahui posisinya sendiri. Untuk itu, diperlukan alternatif lain dalam mengetahui posisi kapal yaitu dengan mengestimasi posisi kapal menggunakan data terakhir yang dimiliki oleh kapal. Tugas akhir ini membahas tentang estimasi posisi kapal menggunakan metode Unscented Kalman Filter. Kapal yang digunakan adalah Kapal Perang Extended Korvet Sigma sedangkan model yang digunakan adalah model gerak kapal dengan 4 derajat kebebasan (Surge, Sway, Yaw, Roll). Hasil dari Tugas Akhir ini didapatkan bahwa metode Unscented Kalman Filter dapat diterapkan untuk mengestimasi posisi kapal dengan baik. Selain itu didapatkan juga bahwa hasil simulasi pada tiap tiap simulasi antara nilai real dan nilai hasil estimasi membentuk satu pola yang hampir sama.
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AIS or Automatic Identification System is a Very High Frequency (VHF) radio transmitting system that transmits data via VHF Data Link (VDL) to send and receive information automatically in cross-ship management and reduce the number of hazards in navigation. In reality, the information transmitted by AIS may not be accurate due to errors of the system. Suppose that positioning system is error so that ship can't know its own position. So, another alternative is needed to determine the ship's position. We can estimate the position of the ship by using the latest data owned by the ship. This final project discusses the estimation of the ship's position using the Unscented Kalman Filter method. This project used Extended Corvette SIGMA Warship while the model used a ship motion model with 4 degrees of freedom (Surge, Sway, Yaw, Roll).The results of this final project indicated that the Unscented Kalman Filter method can be applied to estimate the position of the ship well. In addition, can be known that the simulation results in each simulation the real value and the estimated results value form a pattern that is almost the same.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Extended Korvet Kelas SIGMA, Estimasi Posisi, Model Kapal 4 DOF, Unscented Kalman Filter, Extended Corvette SIGMA, Position Estimation, Ship Motion 4 DOF
Subjects:	Q Science > QA Mathematics Q Science > QA Mathematics > QA402.3 Kalman filtering. T Technology > TF Railroad engineering and operation T Technology > TF Railroad engineering and operation > TF193 Estimates, costs, etc. V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles.
Divisions:	Faculty of Mathematics, Computation, and Data Science > Mathematics > 44201-(S1) Undergraduate Thesis
Depositing User:	khofifah ummu zakiyah
Date Deposited:	30 Aug 2021 03:52
Last Modified:	30 Aug 2021 03:52
URI:	http://repository.its.ac.id/id/eprint/89892

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