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ITS » Undergraduate Theses » Teknik Mesin
Posted by taujack@its.ac.id at 17/01/2012 13:46:09  •  1990 Views


PENGEMBANGAN SISTEM PENGINDERAAN JAUH AUV BERBASIS PADA SENSOR INFRA MERAH DAN SENSOR SONAR RADAR

DEVELOPMENT OF REMOTE SENSING ON AUV BASED ON INFRARED AND SONAR RADAR SENSORS

Author :
UTAMA, IMAM TRIO  ( 2107100701 )




ABSTRAK

Laut mencakup sekitar dua-pertiga dari bumi dan memiliki pengaruh besar terhadap perkembangan semua makhluk hidup. Robot bawah air dapat membantu kita lebih memahami isu lingkungan laut dan lainnya. Autonomous Underwater Vehicle AUV merupakan salah satu jenis robot bawah air yang telah menarik minat banyak penelitian dalam beberapa tahun terakhir. Sistem penginderaan jauh AUV telah banyak dilakukan dengan menggunakan radar. Pada penelitian ini dilakukan pengembangan sistem tracking dengan dua sensor yaitu sensor infra merah dan radar. Metode yang digunakan untuk data fusion adalah Extended Kalman Filter dan metode Monte Carlo sebagai simulasi data. Estimasi target yang dilakukan pada penelitian ini adalah posisi kecepatan dan percepatan. Mean Absolute Error MAE dan Mean Square Error MSE digunakan untuk menunjukan kriteria performansi. Estimasi posisi dengan sensor infra merah dan radar menghasilkan nilai MSE pada posisi x y dan z masing-masing sebesar 0008271 0027466 dan 0006538. Sedangkan estimasi posisi oleh radar saja menghasilkan nilai MSE pada posisi x y dan z masing-masing sebesar 72326660 35036021 dan 0341840. Maka estimasi posisi yang dilakukan oleh sensor infra merah dan radar lebih baik dibandingkan dengan hanya menggunakan radar yaitu terjadi peningkatan lebih kurang 99.


ABSTRACT

The ocean covers about two-thirds of the earth and has a major influence on the development of all living things. Underwater robots can help us to better understand the marine environment and other issues. Autonomous Underwater Vehicle AUV is an underwater robot which has attracted much research interest in recent years. Remote sensing system on AUV has been done by using radar. The aims of this study are to develop remote sensing for tracking system with infrared and sonar radar sensors. The method used for data fusion is the Extended Kalman Filter and Monte Carlo methods for data simulation. Estimated targets performed in this study are the position velocity and acceleration. Mean Absolute Error MAE and Mean Square Error MSE are used to indicate the performance of the system. Estimated position with two sensors produced MSE value at position x y and z respectively 0.008271 0.027466 and 0.006538. While the estimated position by radar alone produced MSE value at position x y and z respectively 72.326660 35.036021 and 0.341840. Therefore position estimation performed by two sensors is better than just using one radar sensor which is an improved in approximately 99.



KeywordsAutonomous Underwater Vehicle (AUV); Remote Sensing; Infrared Sesnsor; Sonar Radar Sensor; Data Fusion
 
Subject:  remote sensing
Contributor
  1. Hendro Nurhadi, Dipl.-Ing., Ph.D.
  2. Dr. Dhany Arifianto, ST, M.Eng.
Date Create: 01/07/2011
Type: Text
Format: pdf
Language: Indonesian
Identifier: ITS-Undergraduate-3100011044300
Collection ID: 3100011044300
Call Number: RSM 621.367 8 Uta p


Source
Undergraduate Thesis, Mechanical Engineering ,RSM 621.367 8 Uta p, 2011

Coverage
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Rights
Copyright @2011 by ITS Library. This publication is protected by copyright and per obtained from the ITS Library prior to any prohibited reproduction, storage in a re transmission in any form or by any means, electronic, mechanical, photocopying, reco For information regarding permission(s), write to ITS Library




[ Download - Open Access ]

  1.  ITS-Undergraduate-17313-2107100701-Abstract_id.pdf - 180 KB
  2.  ITS-Undergraduate-17313-2107100701-Abstract_en.pdf - 186 KB
  3.  ITS-Undergraduate-17313-2107100701-Conclusion.pdf - 181 KB
  4.  ITS-Undergraduate-17313-2107100701-Paper.pdf - 582 KB




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