TY - GEN
T1 - Navigation and guidance control system of AUV with trajectory estimation of linear modelling
AU - Herlambang, Teguh
AU - Djatmiko, Eko Budi
AU - Nurhadi, Hendro
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2016/7/8
Y1 - 2016/7/8
N2 - This paper put forwards a study on the development of navigation and guidance systems for AUV. The restriction in AUV model and estimation on the degree of freedom are recognized as the common problem in AUV's navigation and guidance systems. In this respect a linear model, derived from the linearization using the Jacobian matrix, will be utilized. The so obtained linear model is then estimated by the Ensemble Kalman Filter (EnKF). The implementation of EnKF algorithm on the linear model is carried out by establishing two simulations, namely by generating 300 and 400 ensembles, respectively. The simulations exhibit that the generation of 400 ensembles will give more accurate results in comparison to the generation of 300 ensembles. Furthermore, the best simulation yields the tracking accuracy between the real and simulated trajectories, in translational modes, is in the order of 99.88%, and in rotational modes is in the order of 99.99%.
AB - This paper put forwards a study on the development of navigation and guidance systems for AUV. The restriction in AUV model and estimation on the degree of freedom are recognized as the common problem in AUV's navigation and guidance systems. In this respect a linear model, derived from the linearization using the Jacobian matrix, will be utilized. The so obtained linear model is then estimated by the Ensemble Kalman Filter (EnKF). The implementation of EnKF algorithm on the linear model is carried out by establishing two simulations, namely by generating 300 and 400 ensembles, respectively. The simulations exhibit that the generation of 400 ensembles will give more accurate results in comparison to the generation of 300 ensembles. Furthermore, the best simulation yields the tracking accuracy between the real and simulated trajectories, in translational modes, is in the order of 99.88%, and in rotational modes is in the order of 99.99%.
KW - AUV
KW - EnKF
KW - Navigation
UR - http://www.scopus.com/inward/record.url?scp=84981249586&partnerID=8YFLogxK
U2 - 10.1109/ICAMIMIA.2015.7508028
DO - 10.1109/ICAMIMIA.2015.7508028
M3 - Conference contribution
AN - SCOPUS:84981249586
T3 - ICAMIMIA 2015 - International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, Proceeding - In conjunction with Industrial Mechatronics and Automation Exhibition, IMAE
SP - 184
EP - 187
BT - ICAMIMIA 2015 - International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, Proceeding - In conjunction with Industrial Mechatronics and Automation Exhibition, IMAE
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, ICAMIMIA 2015
Y2 - 15 October 2015 through 16 October 2015
ER -