Design of Position Estimation Algorithm of Navigation and Trajectory System for Unmanned Underwater Vehicle Its AUV-01 using Ensemble Kalman Filter (Enkf) Method

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: https://repository.its.ac.id/id/eprint/70264

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