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.
AUV; EnKF; Non-Linear System; Position Estimation
: Kalman filter
: 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