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ITS » Scientific Articles » Luar ITS Posted by email@example.com at 01/09/2016 14:10:20 • 433 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 ) SUBCHANGUSTIYADI FATHUR R
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.