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ITS » Scientific Articles » Luar ITS
Posted by hdnurhadi@me.its.ac.id at 01/09/2016 14:10:20  •  410 Views


DESIGN OF POSITION ESTIMATION ALGORITHM OF NAVIGATION AND TRAJECTORY SYSTEM FOR UNMANNED UNDERWATER VEHICLE ITS AUV-01 USING ENSEMBLE KALMAN FILTER ENKF METHOD

Author :
HENDRO NURHADI ( 197511202002121002 )
SUBCHAN   GUSTIYADI FATHUR R




ABSTRAK

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 100400 ensemble shows that in estimating position of AUV trajectory are proficient to produce a relatively small RMS Error 01 in each state.



Keywordsnavigation system; autonomous underwater vehicle; path; ensemble kalman filter; trajektory; multi DOF.
 
Subject:  Automated guided vehicle systems; navigations; kalman filtering
Date Create: 00/00/0000
Type: Text
Format: PDF
Language: English
Identifier: ITS-Article-99005160010195
Collection ID: 99005160010195
Call Number: 629.045 Hen d


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article of proceeding SITIA

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ITS Community

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proceeding SITIA




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ITS-Article-99005160010195-41786.pdf




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