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ITS » Scientific Articles » Luar ITS
Posted by hdnurhadi@me.its.ac.id at 01/09/2016 14:35:37  •  472 Views


THE POSITION ESTIMATION OF AUV BASED ON NON-LINEAR ENSEMBLE KALMAN FILTER METHOD

Author :
NGATINI ( none )
ERNA APRILIANI   HENDRO NURHADI




ABSTRAK

Monitoring of the condition of the unstructured and dangerous underwater requires an underwater vehicle that able to treat this condition. A vehicle that can be used for monitoring underwater is unmanned underwater vehicle AUV Autonomous Underwater Vehicle. AUV is robotic device that is driven through the water by a propulsion system controlled and piloted by an onboard computer and maneuverable in three dimensions. This research explains about position estimation of non-linear system of AUV based on The Ensemble Kalman Filter EnKF. EnKF is used as the estimation method of AUVs position that maneuvering in 6 DOF Degrees of Freedom with the determined trajectory. The results show that the minimum error of estimation is 0.002 m and the maximum error is 0.123 m and the higher ensembles need more the computational time.



KeywordsAUV; EnKF; Non-Linear System; Position Estimation
 
Subject:  Kalman filter
Date Create: 02/03/2016
Type: Text
Format: PDF
Language: English
Identifier: ITS-Article-99005160010200
Collection ID: 99005160010200
Call Number: 518.1 Nga t


Source
article of Proceeding of The 6th Annual Basic Science International Conference Received, , Accepted, , Published online

Coverage
ITS Community

Rights
Proceeding of The 6th Annual Basic Science International Conference Received, , Accepted, , Published online




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ITS-Article-99005160010200-41792.pdf




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